Search results for "Tracking control"
showing 4 items of 4 documents
Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation
2021
In this article, a systematic procedure is given for determining a robust motion control law for autonomous quadcopters, starting from an input–output linearizable model. In particular, the suggested technique can be considered as a robust feedback linearization (FL), where the nonlinear state-feedback terms, which contain the aerodynamic forces and moments and other unknown disturbances, are estimated online by means of extended state observers. Therefore, the control system is made robust against unmodelled dynamics and endogenous as well as exogenous disturbances. The desired closed-loop dynamics is obtained by means of pole assignment. To have a feasible control action, that is, the fo…
Tracking control of network distributed systems in presence of variable time delay and loss of information
2006
This paper deals with the control of network distributed systems which has been at the centre of interest in a wide area of research in the last few year. The control of such systems is very difficult because the communication networks inevitably introduce variable time delays and possible lost of samples. In particular, it is proposed an extension of the approach, derived in the contest of the optimal stochastic regulator problem [1], [2], to the remote tracking problem considering a distributed control system in which the signals from the transducers to the controller and from the controller to the actuator are transmitted through a communication network with variable delays and possible …
Fuzzy Adaptive EKF Motion Control for Nonholonomic and Underactuated Cars with Parametric and non Parametric Uncertainties
2007
A new fuzzy adaptive motion control system including on-line extended Kalman''s filter (EKF) for wheeled underactuated cars with non-holonomic constraints on the motion is presented. The presence of parametric uncertainties in the kinematics and in the dynamics is treated using suitable differential adaptation laws. We merge adaptive control with fuzzy inference system. By using fuzzy system, the parameters of the kinematical controller are functions of the lateral, longitudinal and orientation errors of the motion. In this way we have a robust control system where the dynamics of the motion errors is with lower time response than the adaptive control without fuzzy. Also Lyapunov''s stabili…
Tracking Control of Networked Multi-Agent Systems Under New Characterizations of Impulses and Its Applications in Robotic Systems
2016
This paper examines the problem of tracking control of networked multi-agent systems with multiple delays and impulsive effects, whose results are applied to mechanical robotic systems. Four kinds of impulsive effects are taken into account: 1) both the strengths of impulsive effects and the number of nodes injected with impulses are time dependent; 2) the strengths of impulsive effects occur according to certain probabilities and the number of nodes under impulsive control is time varying; 3) the strengths of impulses are time varying, whereas the number of nodes with impulses takes place according to certain probabilities; 4) both the strengths of impulses and the number of nodes with imp…