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A sliding mode controller is proposed for the robust control of both the position and attitude of a quadrotor. The design is tested in simulation. The performance is compared with a proportional plus derivative controller. The robustness of the design is also tested for parametric uncertainty. The effect of disturbances is also investigated. It is found that the sliding mode controller provides good...
To attenuate the effects of inertia uncertainty and external disturbance of combined spacecraft on attitude control accuracy and stability, a composite control law by combining nonlinear disturbance observer (NDO) and backstepping sliding mode control is proposed. In this paper, the nonlinear disturbance observer (NDO) is added to observe the unknown inertia and external disturbance, and asymptotic...
Multiple agents — sometimes referred to as swarm of agents — and their control have been seeking interest significantly over the course of recent years. Their ability to move in desired formations and perform synchronized tasks have been the key arena in their development. In this research work, design of the continuous sliding mode controller for the output regulation of a multi agent system is studied...
We present a feedback control scheme for a hybrid bidirectional interlinking converter of an alternating current (AC)/direct current (DC) microgrid. The output voltage and current are measured which allow us to design a suitable control for the power flow. We propose a robust droop control strategy to cater for the uncertain voltage and frequency droop caused by load variations. The proposed droop...
Permanent magnet linear motors (PMLMs) are widely used in many high precision servo motion platforms, and lithography is a typical application. The reticle stage macro movement subsystem of a lithography machine is a 3-DOF coupling system in X-Y direction which requires carefully modelling and control to achieve high precision. This paper proposes a new modeling method for the 3-DOF PMLM driven coupling...
In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate an approximated model of a two flexible-link robot for control purposes, which includes rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and deformation). The model is obtained...
The main goal of this work is to examine the performance analysis of attitude determination and estimation algorithms applied to Low Earth Orbit Satellite in terms of execution time and accuracy. This performance analysis could be useful to the designer to choose from an attitude determination, attitude estimation or attitude observer algorithms. Least Squares, Q-Method, TRIAD, Extended Kalman Filter,...
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