The paper presents the results of an active structural control experiment performed under microgravity conditions. The test has been conducted during an ESA parabolic flight campaign, aboard a Caravelle aeroplane. The structure is a simple cantilevered steel beam with a proof-mass actuator located at the free end. The actuator is a voice-coil linear dc motor built in house with simple and readi...

This paper deals with the solution bounds for time-delay systems via delay-dependent Lyapunov– Krasovskiimethods. Solution bounds arewidely used for systemswith input saturation caused by actuator saturation or by the quantizers with saturation.We show that an additional bound for solutions is needed for the first time-interval, where t < τ(t), both in the continuous and in the discrete time. T...

Abstract: From a gain-scheduling control perspective, we will study the output feedback control problem for linear systems with some of control channels subject to actuator saturation. This includes the scenario of all actuator saturation as a special case. A feedback controller, expressed in the form of linear fractional transformation, is proposed to guarantee regional stability of the closed...

Mixed H2/H∞ method is proposed to design a controller for flexible joint robots (FJR) considering actuator saturation. By considering the control action in the mixed sensitivity function one can reduce the amplitude of the control action but this may affect all frequencies. A more advanced method based on frequency weighting of the control action contribution in the mixed sensitivity function i...

In this paper, a reconfigurable control strategy is proposed for state synchronization and tracking control of networked (electro-) mechanical Euler-Lagrange (EL) systems that are subject to input saturation constraints that may arise due to actuator faults or failures. The reconfigurable controller consists of three main parts. The first part, known as the nominal controller, is a distributed ...

In this paper, a continuous stable tracking control algorithm is proposed for spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. The design method is based on variable structure control and has the following properties: 1) fast and accurate response in the presence of bounded disturbances; 2) robust to the partial loss of actuator effecti...

In this paper, a continuous globally stable tracking control algorithm is proposed for a spacecraft in the presence of unknown actuator failure, control input saturation, uncertainty in inertial matrix and external disturbances. The design method is based on variable structure control and has the following properties: (1) fast and accurate response in the presence of bounded disturbances; (2) r...