Underactuated vehicles have gained much attention in the recent years due to increasing amount of aerial and underwater as well nanosatellites. Trajectory tracking control these is a substantial aspect for an range application domains. However, external disturbances parts internal dynamics are often unknown or very time-consuming model. To overcome this issue, we present law underactuated rigid...

Purpose: Describe a high-throughput method for the analysis of uncertain models, e.g. in biological research. Methods: Generalized modeling for conceptual analysis of large classes of models. Results: Local dynamics of uncertain networks are revealed as a function of intuitive parameters. Conclusions: Generalized modeling easily scales to very large networks.

In this paper the class of linear impulsive systems is considered. These systems are those with a continuous linear dynamics for all time, except at a sequence of instants. When such a discrete time occurs, the state undergoes a jump, or more precisely follows a discrete linear dynamics. The sequence of time instants, when a discrete dynamics occurs, is nearlyperiodic only, i.e. it is distant f...

A robust hybrid control strategy, that coordinates feedback and switching, is proposed for a broad class of hybrid nonlinear processes with constrained inputs and uncertain dynamics. The proposed strategy involves the coordinated synthesis, via multiple Lyapunov functions, of a family of bounded robust nonlinear feedback controllers that stabilize the constituent modes of the hybrid system, tog...

This paper presents an adaptive backstepping controller for a class of multi input multi output (MIMO) underactuated system, with uncertain dynamics, in its original nonsquare form. The proposed controller combines a wavelet based backstepping controller and a robust control term to obtain the desired tracking performance. Proposed scheme utilizes the concept of regularized inverse for effectiv...

This paper presents the design and implementation of a systematic fuzzy modelling methodology for the inverse dynamic modelling of robot manipulators. The fuzzy logic modelling methodology is motivated in part by the difficulties encountered in the modelling of complex nonlinear uncertain systems, and by the objective of developing an efficient dynamic model for the real-time model-based contro...

In this paper, a robust local controller has been designed to balance the power for distributed energy resources (DERs) in an islanded microgrid. Three different DER types are considered in this study; photovoltaic systems, battery energy storage systems, and synchronous generators. Since DER dynamics are nonlinear and uncertain, which may destabilize the power system or decrease the performanc...