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In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation...
We present a control framework for multiple under-actuated quadrotors, whose collective center-of-mass position and internal formations are teleoperated by a human user. Simulation results are presented to illustrate the application of the theory.
In this paper we propose a new control approach, event driven model free control, which deals with the “tradeoff” between computational cost and system performance. The model free control scheme demands low computational resources and has high robustness, which is especially suitable for systems with complex dynamics and/or affected by disturbances. Particularly for the embedded systems, the event...
Adaptive control is of interest in control systems design not only for its capability to improve performance and reliability but also for handling parameters uncertainties, external disturbances and modeling inaccuracies. This paper addresses a systematic procedure design to develop an adaptive backstepping tracking control approach for a second-order class of single input-single output (SISO) nonlinear...
In this paper, for the positioning and trajectory tracking control of work-class ROVs with parameter uncertainties and unknown disturbances, a systematically MIMO nonlinear robust controller design method based on adaptive backstepping technique and sliding control is introduced. By Lyapunov stability design method, the locally asymptotically stability of closed-loop control system has been proved...
The ball on a circular beam system is an under-actuated mechanical system that is challenging control problem compared to its variant: the ball on a horizontal beam. The control challenge stems out from the fact that the ball on a circular beam system has two unstable eigenvalues unlike its variant which has one. A stabilizing controller synthesized using backstepping methodology is presented. In...
Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of...
Two nonlinear controllers for voltage inverter-fed induction machines are presented in order to ensure flatness based trajectory tracking. The first one is a sliding mode controller and for the design of the second one a backstepping approach is used, where also a sliding mode regime arises. Simulation results illustrate the value of the presented methods.
This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory...
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