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A novel approach for devising trajectory tracking controllers is presented. The approach is based on a combination of flatness-based controller design and L1 adaptive control. The nominal part of the tracking controller involves concepts from differential flatness. In order to preserve the nominal closed-loop dynamics in the presence of time-varying matched uncertainties the controller is augmented...
In this work, we discuss a flexible on-line trajectory planning algorithm for autonomous underwater vehicles. For dynamically allocated way-points and surge velocities, an online algorithm computes polynomials that smoothly link the paths between these way-points, based on the kinematics of the vehicle. We devise a tracking controller that compensates for the nonlinearities of the rigid body dynamics...
The contribution addresses the problem of robust trajectory tracking control and disturbance rejection for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. The control problem is accomplished by using a composite control law including a simple computed torque type controller together with an extended Luenberger type of state and disturbance observer also...
In this contribution we develop a physical model for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. We derive physical models of the relevant components and investigate sources and influences of various parasitic effects and disturbances. For the latter, phenomenological models are developed that capture the behavior observed throughout experiments. The...
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