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Useok Jung, Moon-Gyeang Cho, Ji-Won Woo and Chang-Joo Kim
This paper treats a robust adaptive trajectory-tracking control design for a rotorcraft using a high-fidelity math model subject to model uncertainties. In order to control the nonlinear rotorcraft model which shows strong inter-axis coupling and high no...
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Nihal Dalwadi, Dipankar Deb and Stepan Ozana
A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the biplane quadrotor. Extended state observer (ESO) is designed for the state estimat...
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Amjad J. Humaidi and Akram H. Hameed
This paper investigates the performance of two different adaptive control schemes for controlling the angular position of an electronic throttle (ET) plate. The adaptive backstepping controller and adaptive sliding mode backstepping controller are the co...
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Amjad Humaidi and Mustafa Hameed
In this work, a new adaptive block-backstepping control design algorithm was developed for an under-actuated model (represented by a ball?arc system) to enhance the transient and steady-state behaviors and to improve the robustness characteristics of the...
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Yanzhuang Chen, Qifeng Zhang, Qiyan Tian and Xisheng Feng
The force tracking control of deep-sea hydraulic manipulator systems with long transmission pipelines is disposed via fuzzy adaptive backstepping control based on an extended state observer in this paper. The pipeline model is established and then used t...
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Peilun Ju, Yongfeng Ju and Jiacheng Song
This paper studies the asymptotic control problem of a class of large-scale high-order nonlinear systems (LSHONSs), and an asymptotic fuzzy adaptive dynamic surface controller is developed. Unknown nonlinear terms are learned online by fuzzy logic system...
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Ngoc-Duc Nguyen, Hyeung-Sik Choi, Han-Sol Jin, Jiafeng Huang, Jae-Heon Lee
Pág. 135 - 146
Hybrid underwater glider (HUG) is an advanced autonomous underwater vehicle with propellers capable of sustainable operations for many months. Under the underwater disturbances and parameter uncertainties, it is difficult that the HUG coordinates with th...
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Jianan Xu, Yiming Wang, Junling Ma and Yong Zhan
During the rough marine environment, heave compensation is used to offset the heave motion of the vessel when a marine crane lifts and lands the load. Thus, load motion and vessel motion are realized decoupled. In previous studies, the interference items...
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Mingjie Li, Baoheng Yao, Caoyang Yu and Lian Lian
Underwater gliders are widely used in oceanic observation, which are driven by a hydraulic buoyancy regulating system and a movable mass. Better motion performance can help us to accomplish observation tasks better. Therefore, a command filtered adaptive...
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Wensen Zhang, Zilong Ping, Yongling Fu, Shicheng Zheng and Peng Zhang
A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test of an aircraft actuation system. In this paper, an observer-based backstepping adaptive contro...
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Duc-Thien Tran, Minh-Nhat Nguyen and Kyoung Kwan Ahn
An electrohydraulic elastic manipulator (EEM) is a kind of variable stiffness system (VSS). The equilibrium position and stiffness controller are the two main problems which must be considered in the VSS. When the system stiffness is changed for a specif...
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Zihou He, Jianbo Hu, Yingyang Wang, Jiping Cong, Linxiao Han and Maoyu Su
This paper presents an incremental backstepping sliding-mode (IBS) controller for trajectory control of a tailless aircraft with unknown disturbances and model uncertainties. The proposed controller is based on a nonlinear dynamic model of the tailless a...
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Yufang Zhang, Changde Liu, Nan Zhang, Qian Ye and Weifeng Su
Focusing on dynamic positioning (DP) systems for ships, which are subject to environmental disturbances and actuator constraints, this paper presents a finite-time controller that uses a disturbance observer with the aid of a backstepping technique. Firs...
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Yunsheng Fan, Xinpeng Zou, Guofeng Wang and Dongdong Mu
This paper shows solicitude for the path following control issues of underactuated unmanned surface vehicles subject to unknown external disturbances, deviation of vessel model parameters and actuator saturation. Initially, an improved adaptive integral ...
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Przemyslaw Herman
This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-...
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Mingyu Fu, Lijing Dong, Yujie Xu and Chenglong Wang
This paper studies the trajectory tracking control problem of an Air Cushion Vehicle (ACV) with yaw rate error constraint, input effective parameters, model uncertainties and external wind disturbance. Firstly, based on the four-degree of freedom (DOF) v...
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Juntao Fei, Huan Wang and Di Cao
An adaptive fractional-order fuzzy control method for a three-phase active power filter (APF) using a backstepping and sliding mode controller is developed for the purpose of compensating harmonic current and stabilizing the DC voltage quickly. The dynam...
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Xi Zhang and Hui Lin
This paper proposes an adaptive backstepping control algorithm for electric braking systems with electromechanical actuators (EMAs). First, the ideal mathematical model of the EMA is established, and the nonlinear factors are analyzed, such as the deform...
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Duc-Thien Tran, Hoai-Vu-Anh Truong and Kyoung Kwan Ahn
In this paper, an adaptive robust control is investigated in order to deal with the unmatched and matched uncertainties in the manipulator dynamics and the actuator dynamics, respectively. Because these uncertainties usually include smooth and unsmooth f...
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