This paper deals with the problem of adaptive path tracking of autonomous underwater vehicles with time-varying dynamics. The controller design is based on a speedgradient adaptive law. A high-performance control behavior is aimed, so the full actuator dynamics is considered together with that of the vehicle. To this end, a state/disturbance observer is developed in the state feedback employing...

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

1 In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two{link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system , a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The pendubot complements p...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

The novel approach to the intelligent greenhouse control is based on predictive thermal models and actuator action plans to increase control performance. As operating the actuators essentially changes the thermal dynamics, the overall thermal model is decomposed into sub-models based on the state of the actuators. For the intelligent control it is essential to know the actuator configuration to...

This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and underactuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty i...

In this paper, a sliding mode control algorithm is developed to synthesize nonlinear control system for aircraft systems with actuator faults. Two design parameters are used to deal with uncertainty caused by actuator faults and uncertainty in system dynamics separately. An adaptive algorithm is developed to accomodate these uncertainties without knowing exactly the bounds of these uncertaintie...

Actuator failure detection method based on a new Adaptive Extended Set-Membership Filter (AESMF) is proposed for Rotorcraft Unmanned Aerial Vehicle (RUAV). The AEMSF proposed in this paper is based on MIT method to optimize the set boundaries of process noises which may be incorrect in modeling or time-variant in operation; estimation stability and boundaries accuracy can be improved compared t...

This paper proposes an approach to active fault tolerant control (AFTC) of a variable-speed wind turbine subject to actuator faults. The actuator faults in the turbine pitch system and generator system are considered in this work. Takagi-Sugeno (T-S) fuzzy modeling of the combined driver train, pitch and generator systems is proposed to account for nonlinearities in the dynamics. Moving horizon...