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Under-actuated aerial vehicles in addition to providing significant advantages in terms of design efficiency pose a considerable challenge in identifying and formulating an effective control scheme. Strong coupling among different axes in addition to under-actuation results in configurations more suited to unconventional design methodologies. This work presents a dynamic inversion based nonlinear...
In this paper Adams-Bashforth approximations were employed for sampled-data modeling of a large class of vehicle dynamics in many degrees of freedom. The problem of path tracking and regulation with geometric and kinematic specifications on the reference paths was focused afterwards. An approach to model-based controller design was presented based on a Lyapunov method over an incremental functional...
Four-rotor micro aerial robots, so called quadrotor UAVs, are one of the most preferred type of unmanned aerial vehicles for near-area surveillance and exploration both in military and commercial in- and outdoor applications. The reason is the very easy construction and steering principle using four rotors in a cross configuration. However, stabilizing control and guidance of these vehicles is a difficult...
Modern developments in the fields of control, sensing, and communication have made increasingly complex and dedicated underwater robot systems a reality. Used in a highly hazardous and unknown environment, the autonomy and dynamics of the robots is the key to mission success. Though the dynamics of underwater vehicle system is highly coupled and non linear in nature, decoupled control system strategy...
To solve the re-entry control problem of suborbital vehicle, which has a large dynamic range and uncertainty, a dynamic inversion control system based on time-scale and linear feedback was presented. There is no gain scheduling required in this controller, and it can adapt to the nonlinear, strong-coupled plant characteristics and large-scale changes of the environment. This controller also decreases...
This work presents a nonlinear sliding mode type controller for slip regulation in a braking event for a hybrid electromagnetic-electrohydraulic brake-by-wire system. The ABS controller modifies the brake torque command generated by a supervisory controller based on driver's command via brake pedal sensor. The brake torque command is then generated by closed loop actuator control algorithm to control...
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