Unmanned helicopters (UHs) develop quickly because of their ability to hover and low speed flight. Facing different work conditions, UHs require the ability to safely operate under both external environment constraints, such as obstacles, and their own dynamic limits, especially after faults occurrence. To guarantee the postfault UH system safety and maximum ability, a self‐healing control (SHC...

In this paper we develop a globally stabilizing stability-based switching controller for a three-state lumped parameter centrifugal compressor surge model. The proposed model involves pressure and mass flow compression system dynamics as well as spool dynamics to account for the influence of speed transients on the compression surge dynamics. The proposed nonlinear switching controller architec...

This paper considers the stabilization problem for a port-controlled Hamiltonian system subject to actuator saturation and input additive external disturbances. Conditions are identified under which a static output feedback law would achieve global asymptotic stabilization. Under some additional growth conditions on the nonlinear functions involved in the system, the same feedback law would als...

The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple...

This paper deals with a catalytic continuous stirred tank reactor (CCSTR) example, mo deled as a two-input constrained nonlinear system. Based on the Lyapunov-based linearization strategy, the saturation-type parameterized control design can reduce the effect of actuator subject to amplitude and rate constraints, and the integrated two-input control framework can ensure the asymptotic output re...

It is shown that, for neutrally stable discrete-time linear systems subject to actuator saturation, nite gain lp stabilization can be achieved by linear output feedback, for all p 2 (1; 1]. An explicit construction of the corresponding feedback laws is given. The feedback laws constructed also result in a closed-loop system that is globally asymptotically stable, and in an input-to-state estimate.

This paper presents a behavior-based approach to formation maneuvers for groups of mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. The paper presents three formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy...

The set of all stabilizing controllers of a given low order structure that guarantee specifications on the gain margin, phase margin and a bound on the sensitivity corresponds to a region in n-dimensional space defined by the coefficients of the controllers. For several practical criteria defined in the paper it is shown that the optimal controller lies on the surface of that region. Moreover, ...

this paper presents a gain scheduled autopilot for pitch channel of a flying vehicle. the selected method is based on polynomial fuzzy systems. the method does not involve linearization about operating point. first the polynomial fuzzy model of pitch channel of the flight body is derived. next, using polynomial fuzzy system methodology the controller is design such that the outputs of the nonli...

Abstract: The paper presents a new control strategy for active vehicle suspensions using electrohydraulic actuators based on Takagi-Sugeno (T-S) fuzzy modelling technique. As the electrohydraulic actuator dynamics is highly nonlinear, the T-S fuzzy modelling technique using the idea of “sector nonlinearity” is applied to exactly represent the nonlinear dynamics of electrohydraulic actuator in a...