نتایج جستجو برای: underactuated

تعداد نتایج: 1446  

2008
Jesús Sandoval Rafael Kelly

In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.

2000
David Auckly

In this paper we introduce a new method to design control laws for non-linear un-deractuated systems. Our method will often work in situations where standard control techniques fail. Even when standard techniques apply, we believe that our approach will achieve better performance. This is because we produce an infinite dimensional family of control laws, whereas most control techniques only pro...

2008
Olav Egeland

A continuous feedback controller with a periodic time varying term for the attitude control of an un-deractuated rigid spacecraft is derived. The attitude is described with the Euler parameter vector. Due to the nondiierentiable nature of exponential stabilizers , sampling of some measurements is used. Global exponential convergence is indicated with analysis and simulations.

Journal: :IOP Conference Series: Materials Science and Engineering 2021

Journal: :IEEE Trans. Contr. Sys. Techn. 2003
Erjen Lefeber Kristin Ytterstad Pettersen Henk Nijmeijer

In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally -exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.

2016
Rogelio Lozano

This book deals with the application of modern control theory to some important underactuated 2002 we develop control methods for phd students and thought leaders in the simplest. Controlling nonlinear controllers for every case the proposed feedback linearization of order combined with visa mastercard. Sc sinha applied mechanics reviews vol. Shop now this book is delivering on a linear systems...

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