Underactuated Vehicle Control - Disturbance Attenuation Analysis

نویسنده

  • Gregory J. Toussaint
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

H∞-Optimal Tracking Control Techniques for Nonlinear Underactuated Systems

This paper presents new techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H∞-optimal design and produces a locally e...

متن کامل

Nonlinear H∞ Control for Underactuated Manipulators with Robustness Tests

In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H∞ control problem), presented in Chen et all (1994), is extended to underactuated manipulators. The dynamic coupling between the links is used to control all manipulator’s free joints. A global explicit solution is found solving a minimax Bellman-Isaacs equation, generated via differential game theo...

متن کامل

Dynamic Positioning of an Underactuated Auv in the Presence of a Constant Unknown Ocean Current Disturbance

This paper addresses the problem of dynamic positioning of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. A nonlinear adaptive controller is proposed that yields convergence of the trajectories of the closed loop system to a desired target point in the presence of a constant unknown ocean current disturbance and parametric model uncertainty. The controller is firs...

متن کامل

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 ...

متن کامل

Finite-Time Observer Based Guidance and Control of Underactuated Marine Vehicles with Time-Varying Large Sideslip and Disturbances

Suffering from complex sideslip angles, path following control of an underactuated marine vehicle (UMV) becomes significantly challenging and remains unresolved. In this paper, a finite-time observer based guidance and control (FOGC) scheme for path following of an UMV with time-varying and large sideslip angles and unknown external disturbances is proposed. The salient features of the proposed...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2000