In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) underactuation characteristics. The proposed overcomes the problem by designing desired error dynamics in coupled form using state variables body-fixed and world coordinates. Unlike back-stepping control requiring high-order derivatives of variables, o...

Vibration torque are existence obviously during operation of stepping motor, it is a periodic structure vibration problem. In this paper, the actual vibration torque testing of stepper motor is executed through a selfmade vibration torque sensor, the experimental results show that the stepping motor vibration torque of single three shot operation is more bigger than the six shot, and obvious re...

In this paper, a fault-tolerant control system based on back-stepping integral sliding mode controller (BISMC) is designed and analyzed for both nonlinear translational rotational subsystems of the quadrotor unmanned aerial vehicles (UAVs). The novelty paper about combination classic with repetitive algorithm to reduce response time actuator faults have better tracking performance. fault define...

In order to solve the trajectory-tracking-control problem of state-constrained flexible manipulator systems, a finite-time back-stepping control method based on command filtering is presented in this paper. Considering that virtual signal requires integration each step, which will lead high computational complexity traditional back-stepping, filter used and obtain intermediate finite time, thus...

The physiological control of stepping is governed both by signals descending from supraspinal systems and by circuitry residing within the lumbosacral spinal cord. The goal of this study was to evaluate the capacity of physiologically based controllers to restore functional overground locomotion after neurological damage, such as spinal cord injury when used in conjunction with functional elect...

A control strategy for a certain class of hypersonic flight aircraft dynamic models with unknown parameters is proposed in this article. The adaptive surface input quantization control. To address the issues conventional inversion control, first-order low-pass filter and an parameter minimum learning law are introduced system design process. This method has following features: (1) it solves pro...

In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...