Now showing items 1-6 of 6
A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter
This work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, ...
Neural network based repetitive learning control of robot manipulators
Control of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a ...
Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach
In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a ...
Model reference tracking control of an aircraft: a robust adaptive approach
(Taylor & Francis, 2017-05)
This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- ...
Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels
In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a ...
On adaptive output feedback controf robotic manipulators with online disturbance estimation
The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended ...