共查询到20条相似文献，搜索用时 74 毫秒
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
Mojtaba Kaheni Mohammad Hadad Zarif Ali Akbarzadeh Kalat Luigi Chisci 《国际强度与非线性控制杂志
》2020,30(1):142-158
》2020,30(1):142-158
This article proposes a novel robust feedback linearization control scheme for affine uncertain nonlinear systems subject to matched uncertainties and constraints on the control input. In this method, instead of placing the linearized system poles at exact locations, radial paths in the open left‐hand plane are selected to freely move the poles so as to enhance as much as possible the speed of response while guaranteeing satisfaction of input signal constraints. The stability of our proposed method is analyzed by means of the multivariable circle criterion and the Kalman‐Yakubovich‐Popov lemma. Simulation results demonstrate how the method significantly increases the speed of response compared to fixed pole placements. 相似文献
14.
《Advanced Robotics》2013,27(9):909-924
This paper is concerned with a robust control for wheeled mobile robots. Mobile robots equipped with undeformable wheels are referred to as 'wheeled mobile robots' and constitute a typical example of non-holonomic systems, where the standard control algorithms developed for robotic manipulators without constraints are no longer applicable. It is shown using the formulation of a dynamic feedback linearization (DFL) methodology that a robust sliding mode controller is an efficient design tool to take into account stabilization and tracking control problems. Compared with previous studies based on DFL, the proposed method shows improvement of the trajectory tracking and stabilization process. The robustness is guaranteed in the presence of parameter uncertainty or unmodeled dynamics by the robust sliding mode control technique. Simulation results along with the conclusions drawn are discussed. 相似文献
15.
16.
17.
18.
19.
20.
Sahjendra N. Singh Meir Pachter Phil Chandler Siva Banda Steve Rasmussen Corey Schumacher 《国际强度与非线性控制杂志
》2000,10(10):779-797
》2000,10(10):779-797
This paper treats the question of invertibility of input–output maps and the design of a robust control system for formation flying of multiple unmanned aerial vehicles (UAVs). In close formation, the wing UAV motion is affected by the vortex of the adjacent lead aircraft. The forces produced by these vortices are complex functions of relative position coordinates of the UAVs. In this paper, these forces are treated as unknown functions. For trajectory tracking, invertibility of certain input–output maps in the wind axes system are examined. Interestingly, in the wind axes system, the system is not invertible, but in a simplified co‐ordinate system obtained from the wind axes system for which the velocity roll is zero, inverse control of separation co‐ordinates is possible. Variable structure control laws are derived for separation trajectory control of wing aircraft in the simplified wind co‐ordinate system and for the flight control of the lead aircraft. Simulation results for two UAVs are presented which show precise separation trajectory control in spite of the presence of unknown vortex forces, while the lead aircraft maneuvers. Furthermore, these results confirm that when the wing aircraft is positioned properly in the vortex of the lead aircraft, there is a reduction in the required flight power. Published in 2000 by John Wiley & Sons, Ltd. 相似文献