The Experts below are selected from a list of 321 Experts worldwide ranked by ideXlab platform
A. Astolfi - One of the best experts on this subject based on the ideXlab platform.
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Local robust regulation of chained systems
Systems & Control Letters, 2003Co-Authors: E. Valtolina, A. AstolfiAbstract:In this work a Discontinuous Control law for (nonholonomic) chained systems yielding global asymptotic (exponential) regulation and local robustness against the effect of (small) external disturbances is presented.
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Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control
Journal of Dynamic Systems Measurement and Control, 1999Co-Authors: A. AstolfiAbstract:In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a Discontinuous, bounded, time invariant, state feedback Control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.
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New results and examples on a class of Discontinuous Controllers
1999 European Control Conference (ECC), 1999Co-Authors: A. Astolfi, M.c. Laiou, F. MazeneAbstract:A Discontinuous Control law exponentially stabilizing a simple nonholonomic system is discussed and analyzed in detail. Basic properties, such as existence and uniqueness of the closed loop system trajectories, and simple robustness issues are studied. Continuous modifications of the considered Discontinuous Control law are proposed and discussed in detail. The considered Controller is representative of a large class of feedbacks widely used in the literature, for which a precise mathematical analysis is still lacking. One of the goals of this paper is to provide such analysis and to demonstrate that the somewhat informal procedure used in the literature to study this class of Controllers yields correct conclusions.
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Discontinuous Control of high-order generalized chained systems
Systems & Control Letters, 1999Co-Authors: Maria-christina Laiou, A. AstolfiAbstract:The stabilization problem for nonlinear systems in a generalized high-order chained form is solved by means of Discontinuous state feedback Control laws. The proposed Controllers yield exponential convergence of the states to the origin. Moreover, the design does not require the precise knowledge of the system parameters. The method is applied to an underactuated surface vessel and a mobile robot moving on an uneven surface and its effectiveness is demonstrated through simulations.
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Discontinuous Control of the Brockett Integrator
European Journal of Control, 1998Co-Authors: A. AstolfiAbstract:The problem of asymptotic stabilisation of the Brockett integrator has been addressed and solved in recent years with a variety of methods and approaches. In particular, several Discontinuous Control laws guaranteeing exponential convergence in an open and dense set have been proposed. In this work we show that all such Discontinuous Controllers can be obtained as special cases of a more general class of Controllers. Furthermore, the problem of stabilisation with bounded Control is also discussed and solved. Finally, we address the problem of Controlling the kinematic model of an under-actuated satellite. Simulation results complete the work.
Igorm Boiko - One of the best experts on this subject based on the ideXlab platform.
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chattering in sliding mode Control systems with boundary layer approximation of Discontinuous Control
International Journal of Systems Science, 2013Co-Authors: Igorm BoikoAbstract:It has been a widely accepted notion that approximation of Discontinuous Control by certain continuous function in a boundary layer results in chattering elimination in sliding mode Control systems. It is shown through three different types of analysis that in the presence of parasitic dynamics, this approach to chattering elimination would work only if the slope of the continuous nonlinear function within the boundary layer is low enough, which may result in the deterioration of performance of the system. A few examples are provided. An approach to robust stability of linear systems from the consideration of the saturating Control is proposed.
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ACC - Analysis of chattering in sliding mode Control systems with continuous boundary layer approximation of Discontinuous Control
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Igorm BoikoAbstract:It has been a widely accepted notion that approximation of Discontinuous Control by certain continuous function in a boundary layer results in chattering elimination in sliding mode (SM) Control systems. It is shown through three different types of analysis that in the presence of parasitic dynamics, this approach to chattering elimination would work only if the slope of the continuous nonlinear function within the boundary layer is low enough, which may result in the deterioration of performance of the system. A few examples are provided.
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Analysis of chattering in sliding mode Control systems with continuous boundary layer approximation of Discontinuous Control
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Igorm BoikoAbstract:It has been a widely accepted notion that approximation of Discontinuous Control by certain continuous function in a boundary layer results in chattering elimination in sliding mode (SM) Control systems. It is shown through three different types of analysis that in the presence of parasitic dynamics, this approach to chattering elimination would work only if the slope of the continuous nonlinear function within the boundary layer is low enough, which may result in the deterioration of performance of the system. A few examples are provided.
A. Rachid - One of the best experts on this subject based on the ideXlab platform.
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IROS - Discontinuous Control for exponential stabilization of wheeled mobile robots
Proceedings of IEEE RSJ International Conference on Intelligent Robots and Systems. IROS '96, 1Co-Authors: A. Tayebi, A. RachidAbstract:This paper presents an exponentially stabilizing Controller for a unicycle-like mobile robot, by means of a new coordinates transformation and Lyapunov method. The proposed Control law allows to drive the vehicle in forward or backward motion from any initial configuration to any final one without inverting the direction of motion provided that the robot configuration is, initially, into a large domain excluding the free-y axis. The enclosed simulation results show the effectiveness of the proposed Controller.
Keigo Watanabe - One of the best experts on this subject based on the ideXlab platform.
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Stabilization of an underactuated X4-AUV using a Discontinuous Control law
Indian Journal of Marine Sciences, 2012Co-Authors: Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku NagaiAbstract:Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in Control-affine form by applying a partial linearization technique and a dynamic Controller based on Astolfi's Discontinuous Control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to Controlling the origin of the system.
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Stabilization of an Underactuated X4-AUV Using a Discontinuous Control Law
2011Co-Authors: Keigo Watanabe, Kiyotaka Izumi, Isaku NagaiAbstract:In this paper, stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in Control-affine form by applying a partial linearization technique and a dynamic Controller based on Astolfi’s Discontinuous Control is derived by using transformations of coordinate and input to obtain locally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to Controlling the origin of the system.
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A Discontinuous Control of VTOL aerial robots with four rotors through a chained form transformation
2008 International Conference on Control Automation and Systems, 2008Co-Authors: Keigo Watanabe, K. Okamura, K. Tanaka, Kiyotaka IzumiAbstract:A new Control strategy is presented for a VTOL aerial robot with four rotors. A kinematics Control law is first derived using Astolfipsilas Discontinuous Control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the Discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based Control system, instead of guaranteeing a global stability of the Control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.
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Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial Robots with Four Rotors
Intelligent Unmanned Systems: Theory and Applications, 1Co-Authors: Keigo Watanabe, Kiyotaka Izumi, K. Okamura, K. Tanaka, Rafiuddin SyamAbstract:A Control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics Control law is first derived using Astolfi’s Discontinuous Control. A backstepping method that is one of adaptive Control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque Control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.
Kiyotaka Izumi - One of the best experts on this subject based on the ideXlab platform.
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Stabilization of an underactuated X4-AUV using a Discontinuous Control law
Indian Journal of Marine Sciences, 2012Co-Authors: Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku NagaiAbstract:Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in Control-affine form by applying a partial linearization technique and a dynamic Controller based on Astolfi's Discontinuous Control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to Controlling the origin of the system.
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Stabilization of an Underactuated X4-AUV Using a Discontinuous Control Law
2011Co-Authors: Keigo Watanabe, Kiyotaka Izumi, Isaku NagaiAbstract:In this paper, stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in Control-affine form by applying a partial linearization technique and a dynamic Controller based on Astolfi’s Discontinuous Control is derived by using transformations of coordinate and input to obtain locally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to Controlling the origin of the system.
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A Discontinuous Control of VTOL aerial robots with four rotors through a chained form transformation
2008 International Conference on Control Automation and Systems, 2008Co-Authors: Keigo Watanabe, K. Okamura, K. Tanaka, Kiyotaka IzumiAbstract:A new Control strategy is presented for a VTOL aerial robot with four rotors. A kinematics Control law is first derived using Astolfipsilas Discontinuous Control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the Discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based Control system, instead of guaranteeing a global stability of the Control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.
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Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial Robots with Four Rotors
Intelligent Unmanned Systems: Theory and Applications, 1Co-Authors: Keigo Watanabe, Kiyotaka Izumi, K. Okamura, K. Tanaka, Rafiuddin SyamAbstract:A Control strategy is proposed here for four-rotor vertical take-off and landing (VTOL) aerial robot called X4-flyer. Since the X4-flyer has underactuated and nonholonomic features, a kinematics Control law is first derived using Astolfi’s Discontinuous Control. A backstepping method that is one of adaptive Control methods based on Lyapunov methods, then provides the kinematic based inputs, to construct the torque Control of X4-flyer. Finally, computer simulations are given to demonstrate the effectiveness of our approach.