Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles.
Sign Up to like & getrecommendations! 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
High-order fully actuated system approaches: Part II. Generalized strict-feedback systems
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Motion Planning of Fully Actuated Closed Kinematic Chains With Revolute Joints: A Comparative Analysis
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DOI: 10.1109/lra.2018.2846806
Abstract: This letter provides a comparative analysis of common strategies for sampling-based motion planning of fully actuated closed kinematic chains with revolute joints. Three strategies are reviewed: singularity sampling, swapping between the possible passive chains while… read more here.
Keywords: comparative analysis; fully actuated; analysis; actuated closed ... See more keywords
Global Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groups
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3058053
Abstract: In this article, we examine a regulator problem for a class of fully actuated continuous-time invariant systems on Lie groups, using a discrete-time controller with constant sampling period. We present a smooth discrete-time control law… read more here.
Keywords: lie groups; regulation; class fully; lie ... See more keywords
Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2016.2630599
Abstract: This paper presents path following control for fully actuated rigid body systems in 3-D space. Transverse feedback linearization and a parallel transport frame are used to design a path following controller that is suitable for… read more here.
Keywords: control fully; actuated rigid; fully actuated; control ... See more keywords
Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2020.2992389
Abstract: In this article, recently proposed control methods, suitable for trajectory tracking in fully actuated unmanned aerial vehicles (UAVs), are reviewed and experimentally compared. We specifically focus on multirotor platforms with tiltable propellers, for which the… read more here.
Keywords: control; tracking fully; actuated unmanned; control methods ... See more keywords
Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems
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DOI: 10.1109/tcst.2021.3118488
Abstract: We propose a control approach for fully actuated mechanical systems using interval arithmetic, which guarantees global uniform ultimate boundedness of the tracking error and robust performance despite model uncertainties and input disturbances. Existing robust control… read more here.
Keywords: interval arithmetic; mechanical systems; fully actuated; control ... See more keywords
Position Tracking Control of Fully-Actuated Underwater Vehicles With Constrained Attitude and Velocities
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3140516
Abstract: This article presents a redundant control strategy of fully-actuated underwater vehicles. The proposed strategy offers vehicles more control flexibility for addressing the position tracking problem under the attitudes and velocities constraints. In kinematics, position tracking… read more here.
Keywords: actuated underwater; fully actuated; position tracking; control ... See more keywords
Traffic-Responsive Control Technique for Fully-Actuated Coordinated Signals
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2021.3054054
Abstract: This study develops a traffic-responsive control technique for fully-actuated coordinated signals (TCT) to minimize investment in data collection and engineering judgment for signal timing. The operating process of TCT in a day is divided into… read more here.
Keywords: fully actuated; control; tex math; inline formula ... See more keywords