We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either 2- or 3-D space, we demonstrate how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth bounded curve parameterized by time. We also show how these results can be applied to solve the path-following problem, in which the vehicle is required to converge to and follow a path, without a specific temporal specification. We illustrate our design procedures through two vehicle control applications: a hovercraft (moving on a planar surface) and an underwater vehicle (moving in 3-D space). Simulations results are presented and discussed.

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Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty

Energy storage: Applications and challenges

The use of solar energy in recent years has reached a remarkable edge. The continuous research for an alternative power source due to the perceived scarcity of fuel fossils is its driving force. It has become even more popular as the cost of fossil fuel continues to rise. The earth receives in just 1 h, more energy from the sun than what we consume in the whole world for 1 year. Its application was proven to be most economical, as most systems in individual uses requires but a few kilowatt of power. This paper reviews the present day solar thermal technologies. Performance analyses of existing designs (study), mathematical simulation (design) and fabrication of innovative designs with suggested improvements (development) have been discussed in this paper.

A review of solar thermal technologies

Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory

Performance of solar still with a concave wick evaporation surface

We study the problem of tracking control and maneuver regulation control for a nonlinear nonminimum phase control system. First, a tracking controller, consisting of feedforward and static-state feedback, is designed to guarantee uniform asymptotic trajectory tracking. The feedforward is determined by solving a stable noncausal inversion problem. Constant feedback gains are determined based on linear quadratic regulator (LQR) optimization and assumed satisfaction of a robustness inequality. A maneuver regulation controller is obtained from the tracking controller by introducing a suitable state projection that is related to the LQR feedback gains. Properties of the closed loop, including local asymptotic convergence of the transverse errors are described. A multivariable flight control problem is used to demonstrate the approach.

Tracking and maneuver regulation control for nonlinear nonminimum phase systems: application to flight control

https://isiarticles.com/bundles/Article/pre/pdf/27620.pdf

Modeling and performance analysis of a solar desalination unit with double-glass cover cooling

The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system. Simulation results are provided to demonstrate the effectiveness of the nonlinear controller in tracking time-parameterized trajectories in inertial frame with internal stability.

Quadrotor control using feedback linearization with dynamic extension

Non-linear control of torsional and bending vibrations of oilwell drillstrings

Elastomers are being increasingly used for sealing and other applications in the oil and gas industry. Specifically developed elastomers possess durable properties and have the ability to withstand...

S.A. Al-Hiddabi

Papers

Tracking and maneuver regulation control for nonlinear nonminimum phase systems: application to flight control

Modeling and performance analysis of a solar desalination unit with double-glass cover cooling

Quadrotor control using feedback linearization with dynamic extension

Non-linear control of torsional and bending vibrations of oilwell drillstrings

Mechanical Testing and Characterization of a Swelling Elastomer