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It's well known that measured or estimated uncertainty information is absolutely beneficial to design robust controller. However, few researches have been conducted on that due to the difficulties of obtaining uncertainty information. Most recently, development of observation/estimation and measurement techniques (especially for nonlinear systems) make it possible to get full or partial uncertainty...
This paper proposes an adaptive unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on MIT based UKF and backstepping techniques. The AUKF is used to update the estimation of the uncertain parameters online to avoid...
A kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by...
In this paper, a robust controller design method is proposed with measurable acceleration signals. In general, the normal high-gain acceleration feedback control (AFC) is too complicated to be designed and cannot be used in underactuated or nonlinear systems, as well suffers from the algebraic loop. Whereas, the new controller in this paper overcome all these disadvantages by introducing a linear...
This paper proposes an unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on UKF and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift...
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