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, ...
An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics
(Taylor & Francis, 2016-09)
In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed ...
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 ...
Nonlinear robust control of tendon–driven robot manipulators
(Journal of Intelligent and Robotic Systems: Theory and Applications, 2015-10)
This work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear ...
Robust dynamic positioning of surface vessels via multiple unidirectional tugboats
In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is ...
Non-linear control of variable-speed wind turbines with permanent magnet synchronous generators: A robust backstepping approach
(Taylor & Francis, 2016-01)
In this study, a robust backstepping approach for the control problem of the variable-speed wind turbine with a permanent magnet synchronous generator is presented. Specifically, to overcome the negative effects of parametric ...