Control System Design for a UAV-Mounted Camera Gimbal Subject to Coulomb Friction

On formation control of agents subject to ideal Coulomb friction*

This paper deals with the formation control of a group of point masses subject to ideal Coulomb friction. We propose a discontinuous controller which provides a solution to the exact formation problem in the presence of ideal Coulomb friction.

Formation control of a multi-agent system subject to Coulomb friction

Adaptive Pulse Amplitude Pulse Width Control of Systems subject to Coulomb and Viscous Friction

The focus of this paper is on adaptive control of maneuvering rigid bodies in the presence of friction. The paper describes a simple technique which include Pulse Amplitude and Pulse Width modulation to progressively move the system to the desired final position. To account for uncertainty in estimated friction coefficients and approximated system model, an adaptation algorithm is necessary to ...

Design of Sliding mode control for stochastic systems subject to packet losses

In this paper, we examine the design of a sliding mode control for stochastic systems with data packet losses. It is assumed that there is a network connection in the system's feedback loop and that part of the information may be lost during transmission. The innovation of this paper is to peresent a new method with better  performance In this paper, we first consider an estimated method to com...

Modeling, Control and Simulation of Cascade Control Servo System for one Axis Gimbal Mechanism

The gimbal stabilization mechanism is used to provide the stability to an object mounted on the gimbal by isolating it from the base angular motion and vibration. The purpose of this paper is to present a model of control servo system for one axis gimbal mechanism using a cascade PID controller. The gimbal torque relationships are derived by taking into consideration the base angular motion. Th...