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The trajectory tracking control problem of a tracked vehicle with slipping is considered in this paper. The slipping effects are analyzed and modeled as three time-varying parameters, which can be estimated simultaneously with robotpsilas pose using nonlinear estimators such as unscented Kalman filter. Dynamic feedback linearization integrated with a globally exponential stabilizing state feedback...
The normal unscented Kalman filter (UKF) suffers from performance degradation and even divergence while mismatch between the noise distribution assumed to be known as a priori by UKF and the true ones in a real system. In this paper, a novel adaptive UKF (AUKF) is developed and applied to nonlinear joint estimation of both time-varying states and parameters. A cost function is built based on the error...
This paper discusses the yaw control of small-size unmanned helicopter. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal PID control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a valid...
In this paper, we deal with the yaw control problem of a small-scale helicopter mounted on an experimental platform. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. An attractive control strategy that combines neural networks with traditional adaptive controls has been successfully used for yaw control with input nonlinearities...
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