A novel fault tolerant control scheme, using model‐based control and time delay control theories, is proposed for flexible satellites with uncertainties and actuator saturation and the stability condition of the scheme is analysed. The moment–of‐inertia uncertainty, actuator faults uncertainty, space environment disturbances and the actuator saturation are...

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturatio...

Two concerns for the deployment of two stage actuators in disk drives are microactuator saturation and data recovery in the event of outright microactuator failure. Compensators designed for good performance with two intact actuators may be unstable when the microactuator saturates or stops working entirely. This paper develops a modification of the PQ Method to guarantee stable operation in th...

In this paper, we design and analyse a two degree-of-freedom (TDOF) repetitive control system for a motor/gear transmission system with actuator saturation. Modifications are made for our previous design to incorporate the performance-limiting element, i.e. actuator saturation, to acquire lower order controller, and to achieve faster computation. Furthermore, structured singular value (μ) is us...

Structural flexibility in spacecraft can degrade the accuracy of the attitude control system. With this motivation in mind, we compare the performance of inertia-free attitude control laws for a spacecraft with an undamped discrete flexible mode and demonstrate robustness with respect to unmodeled spacecraft dynamics and actuator saturation. First the equations of motion are derived using Lagra...

In this paper a method of controller design for FJRs considering actuator saturation and other practical limitations is proposed. In the proposed method the need of powerful actuator is skipped over by decreasing the bandwidth of the fast controller during critical times. In order to accomplish this, a supervisory control is employed which uses fuzzy logic to adjust the proper forward path gain...

A saturating actuator can cause stability and performance issues such as windup for a feedback control system designed on linear methods. Anti-windup techniques can be used to preserve the linear behavior in the presence of saturation. Specifically, a local feedback around the saturating actuator via a compensator H can be used. The loop transmission Ln(s) around the actuator has been shown to ...

This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been deve...

The aim of the paper is to design a robust actuator fault-tolerant control for a non-linear discrete-time system. Considered system is described by the Linear Parameter-Varying (LPV) model obtained with recurrent neural network. The proposed solution starts with a discretetime quasi-LPV system identification using artificial neural network. Subsequently, the robust controller is proposed, which...

The potentially significant impact that the design of a process plant can have on its ability to be satisfactorily controlled has led to the development of integrated formulations in which dynamic performance requirements are included as constraints within an optimal design framework. Failure to account for the dynamic operation of a process could lead to reduced profits or even safety and envi...