Earth moving equipment are typically equipped with hydraulic cylinder actuators to perform the designated tasks. Multibody modelling of such systems results in models with kinematic loops that couples the motion variables of the loop bodies. Iterative solutions will be needed to satisfy the loop constraints and the applied constraints, which require evaluation of the constraint Jacobean matrix....

This paper presents an adaptive Nonlinear Model Predictive Control (NMPC) for the path tracking control of a fixed-wing unmanned aircraft. The objective is to minimize the mean and maximum error between the reference trajectory and the UAV. Navigating in a cluttered environment requires accurate tracking. However linear controllers cannot provide good tracking performance due to nonlinearities ...

We hypothesise that all electroweak symmetry breaking terms such as fermion masses and the W and Z gauge boson masses arise radiatively from just one explicit symmetry breaking term in the Lagrangian. Our hypothesis is motivated by the lack of experimental support and the lack of predictivity of the standard symmetry breaking scenario. We construct a simple model which illustrates our ideas. We...

A mathematical model is developed for a mobile robot with three ball-wheels. The resulting model turns out to be a Chaplygin system, which allows the dynamics equations and the kinematic constraints to be integrated separately. The system is driven by six actuators: one actuator connected to one roller of each wheel, and three more actuators controlling the orientation of the ball-carriers with...

Real-time embedded systems must satisfy system-level timing constraints between external sensor inputs and actuator outputs. Real-time scheduling theory can be used to verify that the system is schedulable, that is, no deadlines are missed, but that alone is not enough. Given that the system is schedulable, how to verify that it satisfies system-level end-to-end timing constraints, such as fres...

Agile Earth observation missions continuously require a large amount of planning during the spacecraft’s observations. Beside priorities of the observation sites, especially the agility constraints of the satellite are important to be taken into account during the planning process. This is due to the body-fixed instrument’s line of sight, requiring the whole satellite to point to the observatio...

In this paper, adaptive tracking control is proposed for a class of uncertain multi-input and multi-output nonlinear systems with non-symmetric input constraints. The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design. The spectral radius of the control coefficient matrix is used to relax the nonsingular ...

Abstract In this work, performance of a modified-integral resonant controller with integral tracking is investigated numerically under the effects actuator delay and actuation constraints. Actuation constraints naturally limit performance, so much that it can cause instabilities. A 2-DOF drill-string m nonlinear bit–rock interactions analysed. The aforementioned control scheme implemented on sy...

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of different...