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This article explores the design of a generalized feedback control operator coupled with state estimation for a twin-rotor MIMO system (TRMS) intended to regulate its predefined configurations (i.e., pitch and yaw) or follow time-varying reference configurations in a unified manner. Designing a generalized controller subject to the process and measurement uncertainties of a TRMS is a difficult task...
This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
This manuscript contributes to the development of a neighboring optimal control law coupled with estimation for solving the trajectory tracking and/or regulator problem of a twin-rotor multi-input multi-output system (TRMS). The proposed control law is able to provide necessary control inputs to the TRMS's main and tail rotors so that its actual azimuth and elevation angles follow a pre-defined ones...
The well-known Brocket's theorem revealed that nonholonomic systems, hopping robots, for example, can not be stabilized by smooth time-invariant state feedback controllers. In this manuscript, we propose a linear time-varying state feedback controller for stabilizing a nonholonomic hopping robot during flight mode in finite time. The current approach is novel in the sense that we modify the Pontryagin's...
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