Damping injection is a well-studied tool in nonlinear control theory to stabilize and shape the transient of mechanical systems. Interestingly, coupled damping yielding gyroscopic forces has received far less attention. This paper aims fill this gap for that couple actuated unactuated coordinates. First, we establish sufficient conditions stability closed loop. Then, provide analytic results pr...

This paper studies open-loop tracking and feedback stabilization for nonholonomic systems. Using the concept of approximate inversion, results for drift-free, left-invariant systems on speciic matrix Lie groups are presented .

This note studies min–max systems which are dynamic systems involving three operations (min;max;+). We present a feedback stabilization policy for a class of min–max systems such that the closed-loop systems have a global cycle time which is the same as the maximal Lyapunov exponent of the open-loop systems. Our results are based on structural properties of min–max systems. ? 2003 Elsevier Scie...

A scale-factor-stabilized fiber-optic gyroscope by deep phase modulation is demonstrated. There are two servo loops included in this system. The first servo loop is used for stabilization of the light intensity output of the fiber-optic gyroscope. The second loop is used to stabilize the phase-modulation index. The third-harmonic frequency of the phase-modulation signal is used for detection of...

The adaptive stabilization scheme based on tuning function for stochastic nonlinear systems with stochastic integral input-to-state stability SiISS inverse dynamics is investigated. By combining the stochastic LaSalle theorem and small-gain type conditions on SiISS, an adaptive output feedback controller is constructively designed. It is shown that all the closed-loop signals are bounded almost...

Two control problems related to a particular underactuated mechanical system, the reduced size US Navy crane, are addressed. The open-loop motion planning problem is solved by showing that the model of the crane is differentially flat with a flat output comprising the coordinates of the load as its first components. The closed-loop global asymptotic stabilization of equilibria is achieved using...

In this article, we study the stabilization of an Euler-Bernoulli beam equation with variable coefficients where boundary observation is subject to a time delay. To resolve the mathematical complexity of variable coefficients, we design an observer-predictor based on the well-posed open-loop system: the state of system is estimated with available observation and then predicted without observati...

The ability of pulmonary surfactant to reduce alveolar surface tension requires adequate expression of surfactant protein B (SP-B). Dexamethasone (DEX, 10(-7) M) increases human SP-B mRNA stability by a mechanism that requires a 126-nt-long segment (the 7.6S region) of the 3'-untranslated region (3'-UTR). The objective of this study was to identify sequences in the 7.6S region that mediate regu...

This paper considers a quadratic stabilization problem by an H1 controller. The controller is constructed by a linear fractional transformation on contractive time-varying gains. The controller parameterization is given in terms of contractive time-varying gains. This free parameter can be used to improve the closed-loop response. A tuning method of time-varying gains is chosen so that a Lyapun...

This paper present the design of a novel embedded control system for improving attitude stabilization of a quad-rotor mini UAV. The control strategy uses low cost components and includes an extra control loop based on motor armature current feedback. This additional control loop significantly improves the performance of the quad-rotor attitude stability. This technique results in a controller t...