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Bin Wei
A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust con...
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Laura Celentano
Design and realization of robust, simple and effective controllers, mainly for the transportation and manufacturing systems.
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Guanjie Cui, Chunjiang Bao, Mingjie Guo, Yahui Xu, Yelin He and Jian Wu
With the development of safety technologies for intelligent commercial vehicles, electronic pneumatic braking systems (EBSs) have been widely used. However, EBS actuators may fail during vehicle operation and thus create safety problems. For this reason,...
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Yu Chen, Jianwan Ding, Yu Chen and Dong Yan
The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and ada...
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Wenlai Ma, Minghua Hu, Wei Hao, Haijun Wang and Peiyu Wang
In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are model...
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Guoqing Zhang, Shilin Yin, Chenfeng Huang and Weidong Zhang
This paper focuses on the intervehicle security-based robust formation control of unmanned surface vehicles (USVs) to implement the formation switch mission. In the scheme, a novel adaptive potential ship (APS)-based guidance principle is developed to pr...
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Jairo Olguin-Roque, Sergio Salazar, Iván González-Hernandez and Rogelio Lozano
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve a...
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Xiande Wu, Wenbin Bai, Yaen Xie, Xianliang Zhang and Ting Song
The prescribed performance robust control method for the leader/follower (L/F) formation is proposed in this paper to solve the problem of spacecraft formation flying (SFF) full-process control (FPC). The objective of FPC is to establish an ultra-close f...
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Liping Wu, Ling Tong, Guang Yang, Qi Zhang, Fangchao Xu, Junjie Jin, Xiaoyou Zhang and Feng Sun
The relative position between the laser beam and the nozzle is controlled by laser-focus-controlled magnetic actuators to achieve non-coaxial laser cutting and improve laser cutting efficiency. In this paper, a 3-DOF (degrees of freedom) magnetic actuato...
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En Lu, Jialin Xue, Tiaotiao Chen and Song Jiang
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous...
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Xudong Han, Yongling Fu, Yan Wang, Mingkang Wang and Deming Zhu
The control accuracy and stability of the electrohydrostatic actuator (EHA) are directly impacted by parameter uncertainty, disturbance uncertainty, and non-matching disturbance, which negatively impacts aircraft rudder maneuvering performance and even r...
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Bobo Helian, Marco Wydra and Marcus Geimer
Independent metering systems (IMSs) have been applied and researched in mobile machinery due to their advantages of reduced throttling energy losses and remarkable advances under negative load through decoupling actuator throttling control. Although IMSs...
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Changjun Zou, Jia Yu and Yingxuan Guo
Most of the existing nonlinear ship course-keeping control systems are designed with the Nomoto model, which solely considers the yawing of the ship with only one Degree of Freedom (DOF), and it does not consider the coupling between the longitudinal and...
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Santos Miguel Orozco Soto, Jonathan Cacace, Fabio Ruggiero and Vincenzo Lippiello
This paper presents a robust control strategy for controlling the flight of an unmanned aerial vehicle (UAV) with a passively (fixed) tilted hexarotor. The proposed controller is based on a robust extended-state observer to estimate and reject internal d...
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Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho and Han-Sol Jin
In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communi...
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E. Anyuli Alvarez Salcido, Daniel Centeno-Barreda, Yukio Rosales, Ricardo Lopéz-Gutiérrez, Sergio Salazar and Rogelio Lozano
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg ex...
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Sergio Cuevas del Valle, Hodei Urrutxua, Pablo Solano-López, Roger Gutierrez-Ramon and Ahmed Kiyoshi Sugihara
Deep space missions are recently gaining increasing interest from space agencies and industry, their maximum exponent being the establishment of a permanent station in cis-lunar orbit within this decade. To that end, autonomous rendezvous and docking in ...
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Omkar Halbe and Manfred Hajek
This paper synthesizes a continuous, multivariable, finite-time-convergent, super-twisting attitude and rate controller for rotorcraft with the objective of providing desired handling qualities and robustness characteristics. A sliding manifold is define...
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Roghayyeh Pourebrahim, Amin Mohammadpour Shotorbani, Fausto Pedro García Márquez, Sajjad Tohidi and Behnam Mohammadi-Ivatloo
This paper proposes a robust finite-time controller (FTC) for a permanent magnet synchronous generator (PMSG)-based wind turbine generator (WTG). An adaptive observer is used for the rotor angle, rotor speed, and turbine torque estimations of the PMSG, t...
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Jesus Felez, Miguel Angel Vaquero-Serrano and Juan de Dios Sanz
In recent decades, the demand for rail transport has been growing steadily and faces a double problem. Not only must the transport capacity be increased, but also a more flexible service is needed to meet the real demand. Both objectives can be achieved ...
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