This paper presents an investigation into the design of a flight control system, using a robust backstepping control structure, designed using the two-time scale control procedure of the dynamic of a small-size autonomous helicopter in hover. The two-time scale controller takes advantage of the ‘decoupling’ of the translational and rotational dynamics of the rigid body, resulting in a two-level...

This paper presents a practical direct adaptive fuzzy H tracking control (AFHC) approach for a class of uncertain nonlinear systems with unknown control gain functions and external disturbances. A modified output tracking error is defined to eliminate high gain at the control input and to improve transient performance. An ideal control law is developed to eliminate the restriction that the cont...

This paper presents a novel decentralized control design method for spatially interconnected systems with external disturbances and model uncertainties. The uncertainties in both local subsystems and their interconnections are considered. Sufficient conditions are presented for the stability of spatially interconnected systems with guaranteed performance. The condition for the existence of dece...

A model reference adaptive control method is proposed for uncertain nonlinear characteristics of spacecraft attitude control system. This method combines fuzzy control methodology and nonlinear feedback linearization methodology, which made the closed-loop system stable and the state of fuzzy system track the state of reference model according to the parallel distributed compensation theory and...

In this study, an industrial sliding-mode servo control system is developed for the motion control of a direct-drive-type elevator-door servomechanism. The mechanical structure and dynamic analyses of an elevatordoor mechanism with an indirect field-oriented induction servomotor drive is described initially. Moreover, a newly designed total sliding-mode control (TSMC) system, which is insensiti...

This paper proposes a control strategy for a cable‐suspended robot based on an optimal sliding mode approach confronted by external disturbances and parametric uncertainties. This control algorithm is based on the Lyapunov technique, which is not only able to provide the stability of the end‐effector with an acceptable precision but also provides the optimal path in...

In this paper, we investigate set Input to State Stability (set-ISS) in the context of multi-agent systems, specifically when agent interaction is spatial in nature. We review the definition of Input-to-State (ISS) Lyapunov functions with respect to sets, from which we provide a structural formulation of set-ISS that accommodates the local and per-agent nature of interacting systems. We argue t...