Proceedings ArticleDOI
Robust nested saturation redesign for systems with input unmodeled dynamics
Murat Arcak,Andrew R. Teel,Petar V. Kokotovic +2 more
- Vol. 1, Iss: 6, pp 150-154
TLDR
In this paper, the authors consider nonlinear systems in feed forward form and redesign nested saturation control laws to guarantee global asymptotic stability in the presence of unmodeled dynamics appearing at the system input.Abstract:
We consider nonlinear systems in feedforward form and redesign nested saturation control laws to guarantee global asymptotic stability in the presence of unmodeled dynamics appearing at the system input. Unlike most previous results, this redesign is applicable to a large class of unmodeled dynamics, including actuators that change the relative degree of the system.read more
Citations
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Journal ArticleDOI
Survey Constructive nonlinear control: a historical perspective
Petar V. Kokotovic,Murat Arcak +1 more
TL;DR: This survey describes the 'activation' of stability, optimality and uncertainty concepts into design tools and constructive procedures in nonlinear control theory and concludes with four representative applications.
Journal ArticleDOI
Chattering-Free Sliding Mode Altitude Control for a Quad-Rotor Aircraft: Real-Time Application
TL;DR: The sliding mode control proposed removes the chattering phenomenon by replacing a sign function with a high-slope saturation function and the control algorithm is derived from the Lyapunov stability theorem.
Journal ArticleDOI
Global stabilization and restricted tracking with bounded feedback for multiple oscillator systems
TL;DR: A nonlinear feedback law consisting of nested saturation functions is proposed to achieve global stabilization and restricted tracking for a multiple oscillator system by bounded feedback to improve the transient performance of the closed-loop system.
Proceedings ArticleDOI
Real-time altitude robust controller for a Quad-rotor aircraft using Sliding-mode control technique
TL;DR: In this paper, a real-time robust altitude control scheme is proposed for the efficient performance of a quadrotor aircraft system, where the sensing of altitude measurement sensing is performed by a pressure sensor in order to obtain a robust altitude controlling of the vehicle in hovering mode both indoor and outdoor.
Proceedings ArticleDOI
Altitude control improvement for a Quadrotor UAV using integral action in a sliding-mode controller
TL;DR: In this article, a robust altitude control scheme is proposed for a mini-Quadrotor UAV system based on sliding mode controller with an integral action to eliminate the steady-state error induced by the boundary layer in order to achieve asymptotic convergence to the desired altitude with continuous control input.
References
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Zhong-Ping Jiang,Iven Mareels +1 more
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Journal ArticleDOI
Stabilization in Spite of Matched Unmodeled Dynamics and an Equivalent Definition of Input-to-State Stability*
Laurent Praly,Yuan Wang +1 more
TL;DR: It is shown that, in the case of input-to-state stability (ISS)—the output is the state itself-ISS and exp—ISS are in fact equivalent properties, and it is proposed that all solutions of the perturbed system are bounded and the state of the nominal system is captured by an arbitrarily small neighborhood of the origin.
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