A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The...

linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. the specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. the basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...

This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....

Based on kinematic and kinetic analyses of the 3-Degree of Freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H∞ robust controller based on...

This paper addresses the input-output decoupling problem for discrete-time nonlinear systems by measurement feedback. Necessary and sufficient conditions are given to solve the problem by static or dynamic measurement feedback, respectively. Since the dynamic measurement solution presented here depends on the solution of the input-output linearization problem, a sufficient condition for lineari...

TRANSITIONS BETWEEN HOVER AND LEVEL FLIGHT FOR A TAILSITTER UAV Stephen R. Osborne Department of Electrical and Computer Engineering Master of Science Vertical Take-Off and Land (VTOL) Unmanned Air Vehicles (UAVs) possess several desirable characteristics, such as being able to hover and take-off or land in confined areas. One type of VTOL airframe, the tailsitter, has all of these advantages, ...