Displaying similar documents to “Finite-time output feedback stabilization and control for a quadrotor mini-aircraft”

Adaptive finite-time synchronization of cross-strict feedback hyperchaotic systems with parameter uncertainties

Hai-Yan Li, Yun-An Hu, Rui-Qi Wang (2013)

Kybernetika

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This paper is concerned with the finite-time synchronization problem for a class of cross-strict feedback underactuated hyperchaotic systems. Using finite-time control and backstepping control approaches, a new robust adaptive synchronization scheme is proposed to make the synchronization errors of the systems with parameter uncertainties zero in a finite time. Appropriate adaptive laws are derived to deal with the unknown parameters of the systems. The proposed method can be applied...

Control of the underactuated mechanical systems using natural motion

Zdeněk Neusser, Michael Valášek (2012)

Kybernetika

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The paper deals with the control of underactuated mechanical systems between equilibrium positions across the singular positions. The considered mechanical systems are in the gravity field. The goal is to find feasible trajectory connecting the equilibrium positions that can be the basis of the system control. Such trajectory can be stabilized around both equilibrium positions and due to the gravity forces the mechanical system overcomes the singular positions. This altogether constitutes...

A Lyapunov-based design tool of impedance controllers for robot manipulators

Marco Mendoza, Isela Bonilla, Fernando Reyes, Emilio González-Galván (2012)

Kybernetika

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This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance...