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In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle (UAV) is presented via Immersion and Invariance (I&I) approach. The quadrotor's dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also considered. Despite all these uncertainties...
In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of...
In this paper, a new method of observer based quasi-static deformation compensation control is proposed to track the end position trajectory for a three-link rigid-flexible manipulator with a large payload. Firstly, an observer is developed based on the model of the three-link rigid-flexible manipulator to estimate the vibratory modals and their time derivatives, which are practically impossible to...
This paper proposes a new asymptotic attitude tracking controller for an underactuated three degree-of-freedom laboratory helicopter system. The nonlinear robust control law is developed through a modified inner-outer loop approach, and is free of chattering. The controller requires very limited knowledge of the system dynamic model while achieving good robustness with respect to system parametric...
Azimuth resolution of Missile-borne synthetic aperture radar(SAR) is affected by the trajectory and look angle. In order to acquire the fixed azimuth resolution within a minimum time for SAR imaging seeker, a new approach of solving optimal control problem, that is, Gauss Pseudospectral Method(GPM), is proposed to optimize imaging phase trajectory of Missile-borne SAR. First of all, optimization model...
This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot,...
In order to accommodate different combat missions, modern vehicles should be capable of covering wide range and accurately striking a target with multi-constraints, such as the common aero vehicle (CAV) et al. This paper set up the adjustable range and precision guided trajectory models, and analyzed multiple processing constraints and terminal constraints in flight. Furthermore, to enhance control...
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