Now showing items 1-5 of 5
Predictor-based robust control of uncertain nonlinear systems subject to input delay
In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based ...
A self tuning RISE controller formulation
In recent years, controller formulations using robust integral of sign of error (RISE) type feedback have been successfully applied to a variety of nonlinear dynamical systems. The drawback of these type of controllers ...
Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring ...
Euclidean position estimation of static features using a moving uncalibrated camera
In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static ...
A self-tuning velocity observer formulation for a class of nonlinear systems
This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed ...