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This paper studies model reference adaptive control (MRAC) of discrete-time multi-input multi-output systems in the presence of output sensor uncertainties. Two multivariable MRAC schemes are developed, one for systems with known dynamics and one for systems with unknown dynamics, both with an adaptive compensation design for dealing with parametrizable sensor uncertainties when reliable output measurements...
In this paper, motion control and stabilization of a 4-wheel skid-steering mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model...
Recently, Adaptive critic design (ACD) has been applied to controller design extensively. It is a powerful approach to cope with the model nonlinearity and uncertainties. Existing ACD-based controllers have been proven as uniformly ultimately bounded (UUB). However, UUB only makes the tracking error converge to a certain bounded region. Although we can minimize the bounded region by increasing the...
In this paper, operator based robust nonlinear control for nonlinear plants with time-delays is considered by using robust right coprime factorization approach. That is, based on internal model control (IMC) and a delay compensating method, operator based nonlinear control systems are designed, and sufficient conditions for the designed feedback control systems are obtained. Based on the conditions,...
In this paper, a nonlinear output feedback control mechanism is developed to address the attitude tracking problem of a rigid spacecraft system which contains uncertainty associated with dynamic model and is under the effect of external disturbance. The control strategy is based on limited assumption on the system dynamics. A set of filters are developed to compensate for the unmeasurable spacecraft's...
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