In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...

The traditional three-loop autopilot[11] suffers from coupling in pitch, yaws, roll channel as well as degraded performance due to huge aerodynamic uncertainties. Sliding mode control is applied to design autopilot for skid-to-turn missile (STT) missile systems to overcome the above stated difficulties. The design has two steps. The first step involves feedback linearization and the second stag...

We propose the use of pseudo-singular values, which are closely related to singular values but are allowed to have sign, as a convenient approach for developing techniques for the identification and control of large-scale processes. Steady-state controllability can be assessed directly in terms of the pseudo-singular values. It is shown that to control an output disturbance direction with zero ...

A controller design methodology for offshore structures is investigated. Because stochastic simulation is used for evaluation of the system’s performance in the design stage, nonlinear characteristics of the structural response and excitation can be explicitly incorporated into the assumed system model. Model parameters whose values are uncertain are probabilistically described. In this context...

The paper proposes a CACSD-based alternative for autonomously developing controllers for complex controlled systems. The proposed alternative deals with a neurallike controller with a special architecture. The parameters and the structure of the controller are estimated by a specific developing algorithm, during an off-line training stage. The developing algorithm is implemented like a multi-ag...

This paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references. Contour error is constructed using transformation of traject...

We consider a receding horizon control scheme without terminal constraints in which the stage cost is defined by economic criteria, i.e., not necessarily linked to a stabilization or tracking problem. We analyze the performance of the resulting receding horizon controller with a particular focus on the case of optimal steady states for the corresponding averaged infinite horizon problem. Using ...

We present here GeKiPe, a gestural interface for musical expression, combining images and sounds, generated and controlled in real time by a performer. GeKiPe is developed as part of a creation project, exploring the control of virtual instruments through the analysis of gestures specific to instrumentalists, and to percussionists in particular. GeKiPe was used for the creation of a collaborati...