Displaying similar documents to “An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation”

Constrained robust adaptive stabilization for a class of lower triangular systems with unknown control direction

Jianglin Lan, Weijie Sun, Yunjian Peng (2014)

Kybernetika

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This paper studies the constrained robust adaptive stabilization problem for a class of lower triangular systems with unknown control direction. A robust adaptive feedback control law for the systems is proposed by incorporating the technique of Barrier Lyapunov Function with Nussbaum gain. Such a controlled system arises from the study of the constrained robust output regulation problem for a class of output feedback systems with the unknown control direction and a nonlinear exosystem....

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...

Decentralized design of interconnected H ∞ feedback control systems with quantized signals

Guisheng Zhai, Ning Chen, Weihua Gui (2013)

International Journal of Applied Mathematics and Computer Science

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In this paper, we consider the design of interconnected H ∞ feedback control systems with quantized signals. We assume that a decentralized dynamic output feedback has been designed for an interconnected continuous-time LTI system so that the closed-loop system is stable and a desired H ∞ disturbance attenuation level is achieved, and that the subsystem measurement outputs are quantized before they are passed to the local controllers. We propose a local-output-dependent strategy for updating...