The trajectory tracking control problem of a quadrotor unmanned aerial vehicle (QUAV) subject to external disturbances, inertia uncertainties, actuator faults, and input saturation is addressed in this paper. In contrast with previous works, herein refers rotor speed rather than thrust torque saturation. First, the system decoupled into translational rotational subsystems. Then, for both subsys...

The anode state of charge (SOC) and degradation information pertaining to lithium-ion batteries (LIBs) is crucial for understanding battery over time. This about each cell in a pack can help prolong the pack’s life cycle. Because limited observability, estimating capacity fade difficult. task even more challenging cells pack, as current through individual not constant when are connected paralle...

The space target capturing task using the spacecraft-manipulator system (SMS) has special significance in on-orbit servicing due to its theoretical challenges and practical value. contact force between end effector (gripper) exerted by tumbling motion of destabilizes spacecraft base. A full-dimensional controllable damping mechanism (FDCDM) with a cross-axis structure was designed buffer transi...

The main objective of this work is to study the relationship between passivity and existence of UIO in the nonlinear case. This work is motivated by two facts: On the one side by the well-known relationship between passivity and robustness in control theory. On the other side the equivalence previously found by one of the authors in the linear (square) case between three concepts: existence of ...

A recent study shows that a given hierarchical decentralized control system architecture may be suitable for autonomous coordination of fault-tolerant control (FTC) in a network of distributed and interconnected subsystems. This paper focuses on the development of a robust Fault Detection and Isolation (FDI) strategy for this Network Control System (NCS) FTC problem. By using a robust form of t...

In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in the case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the controller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure for the fault identification and ...