Output Feedback Cooperative Dynamic Positioning Control for an Unactuated Floating Object Using Multiple Vessels

Output Feedback Passivity Based Controllers for Dynamic Positioning of Ships

Cooperative Control of Multiple Quadrotors for Transporting a Common Payload

This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...

Dynamic positioning for an underactuated marine vehicle using hybrid control

The increasing interest in autonomous marine systems and related applications has motivated, among others, the development of systems and algorithms for the dynamic positioning of underactuated marine vehicles (ships, surface vessels, underwater vehicles) under the influence of unknown environmental disturbances. In this paper we present a state feedback control solution for the navigation and ...

Dynamic Output Feedback Compensator for Time - Stamped Networked Control Systems

We propose a dynamic output-feedback compensator for time-stamped Networked Control Systems (NCS). The design methodology is based on the use of a polytopic with additive norm-bounded representation for the NCS. The dynamics of the proposed compensator depends on the delays induced by the network, which are supposed not to be greater than the sampling period and possible to compute from the inf...

Dynamic Output-Feedback H∞ Control for Polytopic Delta Operator Systems

The problem of designing H∞ dynamic outputfeedback controllers for polytopic Delta operator systems is considered. Given a transfer function matrix of a system with polytopic uncertainty, an appropriate, not necessarily minimal, state-space model of the system is described which permits reconstruction of all its states. To this model, a new polynomial parameter-dependent approach to state-feedb...