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This paper presents a navigation technique for a group of quadrotors based on artificial harmonic potential fields in which the leader is considered as a point charge. This is a reactive technique, which is generating the path while the group is moving. To achieve obstacle avoidance the problem is divided in two parts; path generation and path tracking problems. The path generation is based on potential...
Controlling walking biped robots is a challenging problem due to its complex and uncertain dynamics. In order to tackle this, we propose a sliding mode controller based on a dynamic model which was obtained using the conformal geometric algebra approach (CGA). The CGA framework permits us to use lines, points, and other geometric entities, to obtain the Lagrange equations of the system. The references...
A design procedure to robustly globally stabilize the Planar Vertical Take Off and Landing (PVTOL) around a position by means of bounded control law and without knowledge of the velocities is presented. The methodology is based on the use of saturation functions bounding the thrust and the roll inputs. To this purpose the techniques given in [13]-[14] (making use of the full state) are enriched with...
Integrated control design to guarantee vehicle stability is one of the main topics in vehicle control. Actuators saturation is a main concern when dealing with this issue. In this work, we propose a fully integrated control by means of three actuators: Active Front Steering (AFS), Rear Torque Vectoring (RTV) and Semi-Active Suspensions (SAS). A feedback controller is used to ensure, in absence of...
In this paper, the Takagi-Sugeno (TS) fuzzy modelling and the fuzzy regulation theory are considered in order to design a fuzzy controller capable of taking the output of a fuzzy plant to the reference signal generated by an external system. It is well-known that TS fuzzy modelling allows the stabilizer to be obtained by means of numerical techniques. As a result, stability region defined by the fuzzy...
In this paper, a fuzzy nonlinear ripple-free regulator is proposed to solve the sample-data structurally stable regulation problem for the case of nonlinear or generalized immersion. This regulator guarantees asymptotic tracking of time-varying references and rejection of disturbances while maintaining the closed-loop stability. Such a regulator is based on a continuous fuzzy error feedback controller,...
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