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This work presents a general framework to estimate both state and delay thanks to two interconnected observers. This scheme can be applied to a large class of nonlinear systems with time-varying input delay. In order to illustrate this approach, a new delay observer based on an optimization technique is proposed. Theoretical results are illustrated and compared with existing works in simulation.
In this paper, we use sliding mode control theory to design a 3D vision based controller that is robust to bounded parametric estimation errors. First, we give a model of an eye-in-hand 6 DOF robotic system, including the Pose Reconstruction Algorithm (PRA) used to estimate the position and orientation of the camera with respcet to the scene. In a second step, we propose a model for the uncertainties...
This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are...
In this paper, a robust sensorless speed observer-controller scheme for a permanent magnet synchronous motor (PMSM) is proposed. To estimate both position and speed, without any mechanical sensors and only from the electrical measurements, a back-EMF-based sliding mode is designed. The convergence of this observer is proved. Then a high order sliding mode controller is developed. By using this technique,...
Computation of contact forces is essential for the simulation of mechanical systems with unilateral constraints, like bipedal robots. Most methods are based on the rigid body assumption. They can be categorized into constraint-based and penalty-based approaches. In the former, contact forces are computed by solving an optimization problem based on linear or nonlinear complementarity conditions. Unfortunately,...
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