Displaying similar documents to “Backstepping based nonlinear adaptive control for the extended nonholonomic double integrator”

A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

Carlos Vidrios-Serrano, Marco Mendoza, Isela Bonilla, Berenice Maldonado-Fregoso (2020)

Kybernetika

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In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robot-environment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic effects present in robot manipulators whose inputs are torque signals....

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Muhammad Idrees, Shah Muhammad, Saif Ullah (2019)

Kybernetika

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The rotary inverted pendulum (RIP) system is one of the fundamental, nonlinear, unstable and interesting benchmark systems in the field of control theory. In this paper, two nonlinear control strategies, namely hierarchical sliding mode control (HSMC) and decoupled sliding mode control (DSMC), are discussed to address the stabilization problem of the RIP system. We introduced HSMC with state-dependent switching gain for stabilization of the RIP system. Numerical simulations are performed...

Bio-inspired decentralized autonomous robot mobile navigation control for multi agent systems

Alejandro Rodriguez-Angeles, Luis-Fernando Vazquez Chavez (2018)

Kybernetika

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This article proposes a decentralized navigation controller for a group of differential mobile robots that yields autonomous navigation, which allows reaching a certain desired position with a specific desired orientation, while avoiding collisions with dynamic and static obstacles. The navigation controller is constituted by two control loops, the so-called external control loop is based on crowd dynamics, it brings autonomous navigation properties to the system, the internal control...

Saturating stiffness control of robot manipulators with bounded inputs

María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares (2017)

International Journal of Applied Mathematics and Computer Science

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A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Disturbance observer-based second order sliding mode attitude tracking control for flexible spacecraft

Chutiphon Pukdeboon, Anuchit Jitpattanakul (2017)

Kybernetika

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This paper presents a composite controller that combines nonlinear disturbance observer and second order sliding mode controller for attitude tracking of flexible spacecraft. First, a new nonsingular sliding surface is introduced. Then, a second order sliding mode attitude controller is designed to achieve high-precision tracking performance. An extended state observer is also developed to estimate the total disturbance torque consisting of environmental disturbances, system uncertainties...

Receding-horizon control of constrained uncertain linear systems with disturbances

Luigi Chisci, Paola Falugi, Giovanni Zappa (2002)

Kybernetika

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The paper addresses receding-horizon (predictive) control for polytopic discrete-time systems subject to input/state constraints and unknown but bounded disturbances. The objective is to optimize nominal performance while guaranteeing robust stability and constraint satisfaction. The latter goal is achieved by exploiting robust invariant sets under linear and nonlinear control laws. Tradeoffs between maximizing the initial feasibility region and guaranteeing ultimate boundedness in the...