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This paper describes the attitude stabilization problem of a rigid spacecraft. We consider the stabilization problem both in absence and presence of disturbances. To obtain a better disturbance rejection property we use sliding mode controller design technique. Stabilization of rigid spacecraft is a particular type of problem that can be solved with sliding mode control. A discontinuous finite time...
In this paper, discrete-time full and reduced order anti-windup design for general linear cascade control systems under actuator saturation constraint is considered. Based on decoupled architecture with multi-loop compensation, l2 gain reduction, discrete-time Block Diagonal Quadratic Lyapunov Function, and sector bounded-ness, LMI conditions are developed for full and reduced order anti-windup design...
This paper presents the modeling and control of a nonlinear coupled three tank system (CTTS). In this work, nonlinear state space dynamics of CTTS are derived. The objective is to control the level and temperature of water in each tank. The control is achieved using classical nonlinear feedback linearization technique. Input and output scaling is done according to the interface with a standard PLC...
The three-tank-system is considered in this paper. Using experimental data, process dynamics are estimated and noise dynamics are modeled. Uncertainty in the system is identified and estimated by additive uncertainty weights. Controller is designed using mix-sensitivity method.
A new solution for the stabilization and disturbance attenuation problems of the oscillating eccentric rotor (OER), a widely studied nonlinear mechanical system, is presented in this paper. The under actuation property, posing problems in exact feedback linearization, makes design of the control law for OER a challenging task. A novel nonlinear controller design exploiting the recently introduced...
This paper considers the stabilization problem of inertia-wheel pendulum (IWP), a widely studied nonlinear mechanical system. The IWP is a classical example of flat under-actuated mechanical systems, for which the design of control laws becomes a challenging task owing to its underactuated nature posing problems in exact feedback linearization. A novel nonlinear controller design for the IWP is presented...
This paper presents the forward and inverse kinematics modeling of a four degree of freedom (DOF) articulated robot arm, mounted on radiation protection assistant robot-1 (RPAR-I). It is a wheeled mobile monitoring and surveillance robot being designed and developed at Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS). Recent advances in robotics...
This work focuses on the design of a linear quadratic Gaussian controller for three degree of freedom helicopter. This system is developed at PIEAS for studying the dynamics of multi-input multi-output system. The system is underactuated having three degrees of freedom and two actuators. The outputs of the system are phi, thetas positions in the horizontal plane and in the vertical plane as well as...
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