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This paper presents the implementation of visual servo control for a robotic manipulator bereft of proprioceptive sensors, employing for such purpose computer vision techniques to infer the joint angles and position coordinates of the system in real-time. Fiducial markers were attached to the links of the manipulator, so that, through a simple camera physically arranged in monocular topology and steady...
This paper addresses a method for stabilizing the attitude of a quadrotor-like Unmanned Aerial Vehicle (UAV). Towards this end, a new fuzzy control technique based on Linear Matrix Inequalities (LMIs) is proposed, relying on a simple Takagi-Sugeno (TS) fuzzy model when compared to others found in the Literature. This strategy guarantees prescribed performance criteria, such as exponential decay rate,...
In this paper a new Lyapunov function is proposed for stability analysis of linear time-varying systems. This new function carries more information regarding parameter variation leading to less conservative conditions. Using Finsler’s lemma and a suitable form to describe the high-order time-derivatives of the parameters, finite sets of LMIs are obtained which are progressively less conservative as...
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