Control for Underactuated Systems Using Sliding Mode Observer
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0730-2
Abstract: In this work, first we estimate all the system’s state vector, with guarantied precision, for a category of second order underactuated mechanical systems (UMS), exploiting the triangular observer (TO) model that suits to the structure… read more here.
Keywords: systems using; sliding mode; control; underactuated systems ... See more keywords
Nonlinear H-infinity control for underactuated systems: the Furuta pendulum example
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Dynamics and Control"
DOI: 10.1007/s40435-017-0348-0
Abstract: The article applies nonlinear optimal (H-infinity) control to underactuated robotic systems using as a case study Furuta’s pendulum. The pendulum’s dynamic model is first transformed to an equivalent form after applying partial feedback linearization. The… read more here.
Keywords: control; nonlinear infinity; infinity control; furuta pendulum ... See more keywords
Station-keeping Control of an Underactuated Stratospheric Airship
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Fuzzy Systems"
DOI: 10.1007/s40815-018-0566-4
Abstract: This paper studies the station-keeping control of underactuated stratospheric airships in the presence of model uncertainties and wind field, and a T–S fuzzy model-based adaptive backstepping SMC (sliding mode controller) is proposed. Firstly, a fuzzy… read more here.
Keywords: control underactuated; control; underactuated stratospheric; keeping control ... See more keywords
Adaptive control of underactuated flight vehicles with moving mass
Sign Up to like & getrecommendations! Published in 2019 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2018.12.003
Abstract: Abstract The configuration of internal moving masses is a key challenge for applying moving mass control technology to flight vehicle control. A novel configuration with a large mass ratio moving mass and reaction jets is… read more here.
Keywords: control underactuated; moving mass; control; flight ... See more keywords
Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.1380
Abstract: Abstract This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the… read more here.
Keywords: control underactuated; cable driven; control; feedback linearization ... See more keywords
Adaptive fuzzy tracking control for underactuated surface vessels with unmodeled dynamics and input saturation.
Sign Up to like & getrecommendations! Published in 2020 at "ISA transactions"
DOI: 10.1016/j.isatra.2020.04.010
Abstract: This paper investigates the tracking control of the underactuated surface vessel (USV) with the off-diagonal inertial matrix, and under the influence of unmodeled dynamics as well as the constraint of input saturation. With the fuzzy… read more here.
Keywords: input saturation; unmodeled dynamics; control; tracking control ... See more keywords
Design for three-dimensional stabilization control of underactuated autonomous underwater vehicles
Sign Up to like & getrecommendations! Published in 2018 at "Ocean Engineering"
DOI: 10.1016/j.oceaneng.2017.12.071
Abstract: Abstract In order to realize three-dimensional stable control of underactuated autonomous underwater vehicles (AUVs), this study analyses nonlinear hydrodynamic characteristics of AUVs based on the mathematical Taylor series. The nonholonomic control system properties of AUVs… read more here.
Keywords: three dimensional; underwater vehicles; control; autonomous underwater ... See more keywords
Generalized Swing-Up Control of Underactuated Mechanical Systems
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DOI: 10.1109/lcsys.2021.3138921
Abstract: Time-reversal symmetry, which is one of the main characteristics of mechanical systems without frictional forces, is applied to underactuated mechanical systems to generate desired trajectories for the generalized swing-up control. A novel necessary and sufficient… read more here.
Keywords: mechanical systems; generalized swing; underactuated mechanical; control underactuated ... See more keywords