Design of a novel control algorithm for a 6 D.O.F. mobile manipulator based on a robust observer
H. Bolandi, A. Ehyaei, S. Esmaeilzadeh (2005)
Control and Cybernetics
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H. Bolandi, A. Ehyaei, S. Esmaeilzadeh (2005)
Control and Cybernetics
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Krzysztof B. Janiszowski (2009)
International Journal of Applied Mathematics and Computer Science
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A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control...
Johannes Aubrecht, Petros G. Voulgaris (1999)
Kybernetika
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This paper considers the minimization of the -induced norm of the closed loop in linear multirate systems when full state information is available for feedback. A state-space approach is taken and concepts of viability theory and controlled invariance are utilized. The essential idea is to construct a set such that the state may be confined to that set and that such a confinement guarantees that the output satisfies the desired output norm conditions. Once such a set is computed, it...
Antonella Ferrara, Luisa Giacomini (2000)
Kybernetika
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The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well...
Anna Witkowska, Roman Śmierzchalski (2012)
International Journal of Applied Mathematics and Computer Science
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The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance....
Vojtech Veselý (1997)
Kybernetika
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David H. Owens, Steve Daley (2008)
International Journal of Applied Mathematics and Computer Science
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The area if Iterative Learning Control (ILC) has great potential for applications to systems with a naturally repetitive action where the transfer of data from repetition (trial or iteration) can lead to substantial improvements in tracking performance. There are several serious issues arising from the "2D" structure of ILC and a number of new problems requiring new ways of thinking and design. This paper introduces some of these issues from the point of view of the research group at...