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The problem of stabilization of lateral and longitudinal position for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust controller for longitudinal...
This paper investigates the formation keeping problem for multiple spacecraft flying in the presence of time-varying delays and packet dropouts in the intercommunication. A sampled-data approach for tracking control of relative orbital motion between two spacecraft in a leader-follower formation is presented for the case when the leader spacecraft is in a circular orbit. Lyapunov stability conditions...
A control structure that makes possible the integration of a kinematic controller and a neuro-fuzzy network (NFN) dynamic controller for mobile robots is presented. A combined kinematic/dynamic control law is developed using backstepping and stability is guaranteed by Lyapunov theory. The NFN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled...
In this paper, a Hamilton-Jacobi-Bellman (HJB) equation based optimal control algorithm for robust controller design, is proposed for a nonlinear system. Utilizing the Lyapunov direct method, controller is shown to be optimal with respect to a cost functional that includes maximum bound on system uncertainty. Controller is continuous and requires the knowledge of the upper bound of system uncertainty...
The CMAC tuning effects to improve the Hinfin control performance is proposed in this paper. The Hinfin norm is utilized for evaluating the supremum of the robust control variable such that it ensures the Lyapunov stability of the proposed control schemes. Under the Lyapunov stable criterion, we apply the novel pre-step CMAC online tuning scheme for tuning the control variable in order to improve...
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