Tracking Control of n-dimensional Rigid Body with Output Feedback

Output Feedback Tracking Control of Surface Ships

A controller is developed to make surface ships track a reference trajectory using only position and heading measurements for feedback under the environmental disturbances. The controller is first developed for full state feedback. A nonlinear dynamic filter, which is fundamentally different from the linear and high gain filters used in literature, is then designed to construct surge, sway and ...

ADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS

This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

Output Feedback Tracking Sliding Mode Control with Parallel Feedforward Compensator

A new design method of output feedback type tracking sliding mode control (SMC) is proposed in this paper. Stability of the control system and the tracking performance to the reference input are achieved by using the parallel feedforward compensator (PFC), which guarantees almost strict positive realness (ASPR) of the plant, and the so-called internal model. Effectiveness of the method is shown...

Output feedback LMI tracking control conditions with H

Tracking of Rigid Body Motion via Nonlinear H-infinity Control

In the present paper the problem of tracking of rigid body motion in SE(3) in the presence of torque disturbances is addressed. A penalty variable whose Euclidean norm is a measure of the tracking error is deened. Then nonlinear H 1 control theory is applied to design a control law such that the closed loop system has L 2-gain from the torque disturbances to this penalty variable for a xed posi...