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   Articles with "fully actuated" as a keyword



Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles.

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recommendations! Published in 2022 at "ISA transactions"

DOI: 10.1016/j.isatra.2022.01.028

Abstract: The present paper is concerned with the robust and smooth attitude-position tracking control of fully actuated multirotor aerial vehicles equipped with fixed rotors and subject to matched model uncertainties and disturbances. The vehicle coupled dynamic… read more here.

Keywords: sliding mode; order sliding; second order; fully actuated ... See more keywords

Frequency-dependent $\textrm{H}_{{\infty }}$ control for wind disturbance rejection of a fully actuated UAV

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recommendations! Published in 2024 at "Robotica"

DOI: 10.1017/s0263574724000523

Abstract: Abstract In this paper, an $\textrm{H}_{{\infty }}$ dynamic output feedback controller is experimentally implemented for the position regulation of a fully actuated tilted-rotor octocopter unmanned aerial vehicle (UAV) to improve wind disturbance rejection during station-keeping.… read more here.

Keywords: wind disturbance; textrm infty; fully actuated; frequency dependent ... See more keywords

High-order fully actuated system approaches: Part II. Generalized strict-feedback systems

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recommendations! Published in 2021 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2020.1829168

Abstract: An advantage of a high-order fully-actuated (HOFA) system is that there exists a controller such that a constant linear closed-loop system with an arbitrarily assignable eigenstructure can be obtained. In this paper, a generalised form… read more here.

Keywords: order; system; fully actuated; order fully ... See more keywords

High-order fully actuated system approaches: Part V. Robust adaptive control

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recommendations! Published in 2021 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2021.1879964

Abstract: A type of high-order fully actuated (HOFA) systems with both nonlinear uncertainties and time-varying unknown parameters is considered, and a direct approach for the designs of robust adaptive stabilising controllers and robust adaptive tracking controllers… read more here.

Keywords: robust adaptive; system; part; fully actuated ... See more keywords

High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling

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recommendations! Published in 2021 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2021.1879966

Abstract: Two types of high-order fully actuated (HOFA) system models subject to external disturbances are firstly introduced. For the type of HOFA systems with deterministic disturbances, the problem of disturbance attenuation via state feedback is treated.… read more here.

Keywords: disturbance attenuation; fully actuated; order fully; high order ... See more keywords

Prescribed-time fault-tolerant control for the formation of quadrotors based on fully-actuated system approaches

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recommendations! Published in 2024 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2024.2305306

Abstract: This paper investigates the problem of prescribed-time fault-tolerant control for the formation of quadrotors by utilising the fully-actuated system approach. Since not all quadrotors can directly access the virtual leader's state, a distributed prescribed-time observer… read more here.

Keywords: time; control; fully actuated; prescribed time ... See more keywords

Robust fault-tolerant stabilisation of uncertain high-order fully actuated systems with actuator faults

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recommendations! Published in 2024 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2024.2312868

Abstract: This paper presents a novel fault tolerance strategy for a class of uncertain high-order fully actuated systems (FASs) with actuator faults. Recently, the FAS approaches have been rapidly developed in different fields. As a control-oriented… read more here.

Keywords: actuator faults; uncertain high; fully actuated; fault tolerant ... See more keywords

Fully actuated system approach for spacecraft rendezvous system with actuator saturation

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recommendations! Published in 2024 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2024.2317349

Abstract: This paper explores the application of a fully actuated system (FAS) approach to a spacecraft rendezvous system with actuator saturation. A FAS model for the spacecraft rendezvous system is developed, followed by the design of… read more here.

Keywords: system; rendezvous system; fully actuated; approach ... See more keywords

Adaptive event-triggered control for uncertain strict-feedback nonlinear systems with actuator faults: a fully actuated system approach

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recommendations! Published in 2025 at "International Journal of Systems Science"

DOI: 10.1080/00207721.2025.2468864

Abstract: Within this study, an adaptive control strategy based on the fully actuated system approach is designed for strict-feedback nonlinear systems containing actuator faults. Firstly, to lower the complexity of the algorithm, we transform the studied… read more here.

Keywords: system; control; strict feedback; fully actuated ... See more keywords

State feedback tracking control of piezoelectric actuator based on an fully-actuated system approach

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recommendations! Published in 2025 at "Physica Scripta"

DOI: 10.1088/1402-4896/addefa

Abstract: To address the challenges of modeling complexity and controller design difficulties caused by the inherent nonlinear hysteresis of piezoelectric actuators (PEA), this paper proposes a state feedback control method based on the Fully Actuated System… read more here.

Keywords: system; control; state feedback; based fully ... See more keywords

Periodic motion patterns and walking efficiency in a fully actuated biped model

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recommendations! Published in 2025 at "Physica Scripta"

DOI: 10.1088/1402-4896/ae138b

Abstract: To ensure stable motion of the biped robot on horizontal ground, a fully actuated walking dynamics model is employed, incorporating heel impulse thrust on the support leg along with actuation torques at the hip and… read more here.

Keywords: actuated biped; biped model; efficiency fully; fully actuated ... See more keywords