NASA Technical Reports Server (Ntrs) 20070034073: Reconfigurable control Design with Neural Network Augmentation for a Modified F-15 Aircraft by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20070034073: Reconfigurable control Design with Neural Network Augmentation for a Modified F-15 Aircraft by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19900017262: Position control of Redundant Manipulators Using an adaptive Error-Based control Scheme by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19900017262: Position control of Redundant Manipulators Using an adaptive Error-Based control Scheme by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19870008951: Performance Characteristics of an adaptivecontroller Based on Least-Mean-Square Filters by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19870008951: Performance Characteristics of an adaptivecontroller Based on Least-Mean-Square Filters by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20000060828: a Cybernetic Approach to the modeling of Agent Communities by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20000060828: a Cybernetic Approach to the modeling of Agent Communities by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20090008513: Reconfigurable Flight control Design Using a Robust Servo Lqr and Radial Basis Function Neural Networks by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 20090008513: Reconfigurable Flight control Design Using a Robust Servo Lqr and Radial Basis Function Neural Networks by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19980237343: Assessment Study of the State of the Art in adaptivecontrol and Its Applications to Aircraft control by NASA Technical Reports Server (Ntrs); published by
NASA Technical Reports Server (Ntrs) 19980237343: Assessment Study of the State of the Art in adaptivecontrol and Its Applications to Aircraft control by NASA Technical Reports Server (Ntrs); published by
This paper deals with the precision control of tumbling multibody systems with uncertainties present in the descriptions of their mathematical models. A generic tumbling multibody system consisting of a rigid body wit...
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This paper deals with the precision control of tumbling multibody systems with uncertainties present in the descriptions of their mathematical models. A generic tumbling multibody system consisting of a rigid body with internal degrees of freedom is used. A two-step control methodology is developed. First, a nominal system is conceived that best approximates the actual physical system. An analytical dynamics-based control methodology is used to obtain the nominal control force that ensures that this nominal system satisfies the control requirements. This is done using the control methodology proposed by Udwadia ("Optimal Tracking control of Nonlinear Dynamical Systems," Proceedings of the Royal Society of London, Series A: Mathematical and Physical Sciences, Vol. 464, 2008, pp. 2341-2363). Second, an additional compensating generalized control force is designed to ensure that the actual controlled (uncertain) system tracks the trajectories of the nominal system so that the control requirements are also met by the actual system. This paper deals primarily with the second step and its combination with the first. Uncertainties in both the description of the system as well as the forces acting on it are considered. No linearizations or approximations are made in either of the steps, and the full nonlinear dynamical system is considered. The efficacy of the control methodology is demonstrated by applying it to two tumbling uncertain multibody dynamical systems.
In this paper, an adaptive, disturbance-based sliding-mode controller for hypersonic-entry vehicles is proposed. The scheme is based on high-order sliding-mode theory, and is coupled to an extended sliding-mode observ...
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In this paper, an adaptive, disturbance-based sliding-mode controller for hypersonic-entry vehicles is proposed. The scheme is based on high-order sliding-mode theory, and is coupled to an extended sliding-mode observer, able to reconstruct online the disturbances. The result is a numerically stable control scheme, able to adapt online to reduce the error in the presence of multiple uncertainties. The transformation of a high-order sliding-mode technique into an adaptive law by using the extended sliding-mode observer is, together with the multi-input/multi-output formulation for hypersonic-entry vehicles, the main contribution of this paper. The robustness is verified with respect to perturbations in terms of initial conditions, atmospheric density variations, as well as mass and aerodynamic uncertainties. Results show that the approach is valid, leading to an accurate disturbance reconstruction, to a better transient, and to good tracking performance, improved of about 50% in terms of altitude and range errors with respect to the corresponding standard sliding-mode-control approach.
A smooth attitude-stabilizing controller is proposed for rigid spacecraft actuated by thrusters that achieves finite-time stability in the presence of external disturbance, input saturation, and inertia uncertainty. M...
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A smooth attitude-stabilizing controller is proposed for rigid spacecraft actuated by thrusters that achieves finite-time stability in the presence of external disturbance, input saturation, and inertia uncertainty. More specifically, a novel time-varying fast terminal sliding-mode surface is first developed in conjunction with a judiciously designed control signal that rigorously obeys a known maximum-torque constraint. The controller can be viewed as a continuous analog to a variable structure approach, with the smoothness of the control permitted to vary with time according to a set of user-defined parameters. The second major contribution is that the control algorithm is extended to accommodate actuator faults while making use of the remaining active actuating capabilities. A Lyapunov-based analysis of the proposed formulation is provided, and finite-time stability of the closed-loop system is guaranteed. Numerical simulation studies are presented to help illustrate the desirable properties of the controller whenever certain design parameters are selected appropriately, and guidelines for selecting those parameters are provided in depth.
This work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical para...
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This work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters are uncertain. The main contribution of this work is a novel controller that solves the two consensus problems, in the task space, with the following features: it estimates the kinematic and the dynamic physical parameters;it is robust to interconnecting variable-time delays;it employs the singularity-free unit-quaternions to represent the orientation;and, using energy-like functions, the controller synthesis follows a constructive procedure. Simulations using a network with four heterogeneous manipulators illustrate the performance of the proposed controller. Copyright (c) 2016 John Wiley & Sons, Ltd.
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