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The trajectory tracking problem of a quadrotor helicopters is investigated with Trajectory Linearization Control (TLC) method in this paper. Due to symmetrical structure of the quadrotor helicopters, gyroscopic effects can be neglected in its dynamical model and the model can be divided to four subsystems: position kinematics, position dynamics, attitude kinematics and attitude dynamics. TLC method...
A class of space flexible structure composed of a rigid central body and a flexible arm is investigated in this paper. The flexible structure can be modelled as an underactuated mechanical system. A new controller for the flexible structure is designed based on Controlled Lagrangian method and asymptotic stability of the closed-loop system is proved. The controller can realize rotational maneuver...
The backward movement control for a mobile robot with n trailers to follow a given path is investigated in this paper. First, the iterative inverse velocity relationship for the robot-trailer system with off-axle hitching is derived. By the use of the control design scheme based on inverse velocity relationship and output-feedback linearization method, two backward path-following control laws are...
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