Displaying similar documents to “Numerically generated path stabilizing controllers: Use of preliminary feedback”

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...

On some geometric control properties of active suspensions systems

Domenico Prattichizzo, Paolo Mercorelli (2000)

Kybernetika

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The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed...