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This paper is concerned with control of nonholonomic systems. As is well known, symmetric affine system is uncontrollable with continuous time-invariant differentiable state feedback. In this paper we apply direct gradient descent control (DGDC) for the symmetric affine system. The DGDC is such a method that we manipulate control inputs directly so as to decrease a performance function by the steepest...
In the practical engineering, many natures are described as a discontinuous function of state variable, and the discontinuity is usually main reason that damages the control performance. For example, in the set-point control problem of mechanical system, the static friction which is described by a sign function of velocity of the contacting faces causes undesired positioning error. In this paper,...
The pneumatic valve is a position control plant with uncertain parameters and unknown disturbances such as friction and discharge fluctuation. An adaptive nonlinear switching-type robust control strategy is proposed to adjust the valve position in a closed loop manner. The controller consists of a feedforward compensator, a linear state feedback term, a parameter and constant disturbance identifier,...
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