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In order to deal with the control difficulties of the dredger's dynamic positioning system under large disturbances caused by dredging operation, a disturbances compensating dynamic surface control method is proposed to be used in the dredger's dynamic positioning system. Disturbances can be measured and compensated by the adding forces sensors. The proposed robust controller guarantees the semi-globally...
In this paper, an adaptive control strategy applying on a mini four-rotor rotorcraft is proposed. The controller is designed using the backstepping method and function estimation. In the control architecture for this rotorcraft, a two-layer structure is adopted consisting of an inner-loop controller and an outer-loop controller. The inner-loop controller is responsible for the angular rotations control,...
Aimed at the problems, such as the poor synchronization performance of heavy crane being operated coordinately and huge amounts of on-line calculation using the existed relative coupling strategy, a position synchronization controller based on adjacent relative coupling strategy and backstepping is designed. The simulation model is constructed in Matlab/Simulink environment, and the Simulink results...
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