Feedback Control of a
نویسندگان
چکیده
In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous transformation matrices, and attitude deviations are given by Euler parameters. This gives a global description without singularities. It is also shown how controllability of the nonholo-nomic underwater vehicle can be analyzed in SE(3) without the use of local charts. The inputs of the system are the three angular velocity components and the forward velocity.
منابع مشابه
Singular Perturbation Theory in Output Feedback Control of Pure-Feedback Systems
This paper studies output feedback control of pure-feedback systems with immeasurable states and completely non-affine property. Since availability of all the states is usually impossible in the actual process, we assume that just the system output is measurable and the system states are not available. First, to estimate the immeasurable states a state observer is designed. Relatively fewer res...
متن کاملAssessment of the conventional control algorithms and proposing a modified displacement feedback control for performance-based design of structures
An enhanced displacement feedback structural control procedure is presented for performance-based design in this paper. At first, a comparative study is implemented assessing three most common active control algorithms including state, acceleration, and displacement feedback controls. The advantage of the displacement feedback algorithm for active control of structures against earthquakes is de...
متن کاملThe Effect of Asynchronous versus Computer-mediated Corrective Feedback on the Correct Use of English Articles in an EFL Context
The purpose of this study is to investigate the effects of asynchronous computer-mediated versus conventional corrective feedback on learners' writing accuracy. Three groups of learners took part in the study: asynchronous feedback group, conventional feedback group, and a control group. Asynchronous feedback group students received explicit feedback on the targeted structure via e-mail, while...
متن کاملActive control vibration of circular and rectangular plate with Quantitative Feedback Theory (QFT) Method
Natural vibration analysis of plates represents an important issue in engineering applications. In this paper, a new and simplify method for vibration analysis of circular and rectangular plates is presented. The design of an effective robust controller, which consistently attenuates transverse vibration of the plate caused by an external disturbance force, is given. The dynamics of the plate i...
متن کاملADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS
This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...
متن کاملVelocity Control of Electro Hydraulic Servo System by using a Feedback Error Learning Method
In this paper, a new control method based on FEL electro hydraulic servo control withnonlinear flux and internal friction, has been presented. The new approach based oncontrollers combined by a classic PD controller and a fuzzy controller is smart. This newtechnique has a good ability to control the performance and stability. Simulations have beencarried out in Matlab environment and the result...
متن کامل