In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

In this paper a new nonlinear guidance law with finite time convergence is proposed. The second order integrated guidance and control loop is formulated considering a first order control loop dynamics. By transforming the state equations to the normal form, a finite time stabilizer feedback linearization technique is proposed to guarantee the finite time convergence of the system states to zero...

This paper concerns the H∞ loop-shaping design for multiloop operation of paralleled DC/DC converters. The preand post-compensators are designed to shape the nominal plant model to achieve the desired performance. Then, the H∞ controller is synthesized in order to achieve the robust stability and robust performance of the system in the presence of uncertainties. Finally, the H∞ controller absor...

Exact array dataaow analysis can be achieved in the general case if the only control structures are do-loops and structural ifs, and if loop counter bounds and array subscripts are aane expressions of englobing loop counters and possibly some integer constants. In this paper , we begin the study of dataaow analysis of dynamic control programs, where arbitrary ifs and whiles are allowed. In the ...

The paper describes a mechatronic approach towards designing and implementing complex motion control systems. Stages of control systems and the tools used for each stage are described here. Particular attention was paid to the virtual and physical stage of prototyping of control systems. Possible implementations of control systems were divided into two groups according to their applicability in...

We study the complexity of possible constructive/destructive control by adding voters (PCCAV/PDCAV) and deleting voters (PCCDV/PDCDV) under nine different models of partial information for k-Approval and k-Veto. For the two destructive variants, we can further settle a polynomial-time result holding even for each scoring rule. Generally, in voter control, an external agent (called the chair) tr...