Integral MRAC With Bounded Switching Gain for Vehicle Lateral Tracking

Low Gain Robust Visual Servoing with Bounded Tracking Errors

This paper focuses on the design of robust vision based control of a 2-DOF planar manipulator. The controller is expressed in the image space, where the system can be modeled as a pure integrator with a nonlinear matrix gain. It involves a simple proportional controller with a feedforward velocity input. Robustness is provided by the guarantee of a bounded tracking error, thanks to the online c...

Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm

In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID) and Fuzzy Proportional Derivative (F-P...

Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle

We consider the kinematic model of vehicle moving forward with a lower bounded turning radius. This model, sometimes referred to as \Dubins' vehicle", is relevant to the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels. We consider the optimal control problem consisting of minimizing the length travelled by the vehicle starting from a generic con gur...

Lateral Transhipment with Customer Switching

We consider the inventory transshipment problem between two retailers that sell the same product to two independent markets. One assumption that distinguishes our work is that unsatisfied customers may also switch to the retailer with surplus inventory. We examine the impact of such customer switching behavior on firms' inventory decisions and profits. We identify situations when the firm with ...

Integral switching engine for special