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To solve the path following and stabilization problems for underactuated surface ships with nonintegrable acceleration constraint, a nonlinear feedback algorithm is presented using decoupling control method and iterative nonlinear sliding mode designing approach. The saturations on actuators and unknown environmental disturbances are also explicitly considered. Integrating with simple increment feedback...
The phenomenon of long term instability of iterative learning control systems is examined. The concept of stability with respect to a specified trajectory is used to define a nonlinear biased gap metric. The resulting robust stability theorem, applied in a 2D setting, is used to prove the robust stability of a set of ILC algorithms engaged in trajectory tracking. The robust stability guarantee is...
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
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