In this paper, dynamic image-based visual servo control approach is designed for an underactuated flying robot tracking a moving target. The objective is to consider the full dynamics of the system to design a vision based controller. Passivity properties of dynamics of perspective image moments in virtual image plane, obtained using inertial information of the robot, are utilized to design a d...

This paper presents an indirect adaptive control scheme for a pH process, which is diicult to control due to its nonlinear dynamics with uncertainties. A nonlinear controller is designed using a backstepping technique which can deal with a large class of nonlinear systems with parametric uncertainty. The nonlinear controller is combined with a parameter estimator to estimate the concentrations ...

A control scheme for dynamic tracking of mobile robots is presented, which integrates a velocity controller based on backstepping techniques and a torque controller based on improved RBF neural networks. The proposed torque control strategy derived from sliding modes depends on the dynamics of mobile robots. Because of the uncertainties in robot dynamics, the robustness of the system cannot be ...

An important issue in robotics research is path tracking control where the robot is required to follow a certain path. The error between the desired path and the actual path is to converge to zero. This problem is more complicated when the robot dynamics is considered. This paper proposes a real time trajectory tracking control for a differential drive wheeled mobile robot (DDWMR) in obstacle-f...

In this paper control of a flexible joint manipulator is designed using an adaptive output-feedback controller based on a backstepping design. The parameters of system are assumed to be unknown and only motor position and link position measurements are used for the synthesis of the controller. A canonical state representation of the system is derived and filters are designed to obtain the estim...

Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, flies fixed-wing UAVs. A backstepping controller an adaptive are designed trajectory tracking payload delivery in medical emergency or substance vaccine presence wind gust. Simulation results show that effectively tracks during entire flight env...