The Experts below are selected from a list of 24798 Experts worldwide ranked by ideXlab platform

D M Dawson - One of the best experts on this subject based on the ideXlab platform.

  • Adaptive control for a class of MIMO nonlinear systems with non-symmetric input matrix
    Proceedings of the 2004 IEEE International Conference on Control Applications 2004., 2004
    Co-Authors: X.t. Zhang, D M Dawson, De Queiroz, B. Xian
    Abstract:

    We consider a general class of multi-input multi-output nonlinear systems with Parametric Uncertainty where the matrix pre-multiplying the control input is positive definite but non-symmetric. A new adaptive control law is proposed which exploits a decomposition of the aforementioned matrix into a symmetric positive definite matrix and a unity upper triangular matrix. The proposed control is shown to ensure global asymptotic tracking.

  • vision based nonlinear tracking controllers with uncertain robot camera parameters
    IEEE-ASME Transactions on Mechatronics, 2001
    Co-Authors: Erkan Zergeroglu, D M Dawson, M S De Querioz, A Behal
    Abstract:

    This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of Parametric Uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for Parametric Uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Experimental results illustrating the viability of the adaptive controllers and extensions regarding robust control and redundant robot manipulators are also included.

  • adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
    Systems Man and Cybernetics, 2001
    Co-Authors: Warren E Dixon, D M Dawson, Erkan Zergeroglu, A Behal
    Abstract:

    This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of Parametric Uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.

  • adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
    American Control Conference, 2000
    Co-Authors: Warren E Dixon, D M Dawson, Erkan Zergeroglu, A Behal
    Abstract:

    This paper considers the problem of position orientation tracking control of wheeled mobile robots via visual serving in the presence of Parametric Uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking.

  • global adaptive output feedback tracking control of robot manipulators
    IEEE Transactions on Automatic Control, 2000
    Co-Authors: F Zhang, D M Dawson, M S De Queiroz, Warren E Dixon
    Abstract:

    This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators, specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for Parametric Uncertainty and requiring only link position measurements.

Warren E Dixon - One of the best experts on this subject based on the ideXlab platform.

  • adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
    Systems Man and Cybernetics, 2001
    Co-Authors: Warren E Dixon, D M Dawson, Erkan Zergeroglu, A Behal
    Abstract:

    This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of Parametric Uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.

  • adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system
    American Control Conference, 2000
    Co-Authors: Warren E Dixon, D M Dawson, Erkan Zergeroglu, A Behal
    Abstract:

    This paper considers the problem of position orientation tracking control of wheeled mobile robots via visual serving in the presence of Parametric Uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking.

  • global adaptive output feedback tracking control of robot manipulators
    IEEE Transactions on Automatic Control, 2000
    Co-Authors: F Zhang, D M Dawson, M S De Queiroz, Warren E Dixon
    Abstract:

    This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators, specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for Parametric Uncertainty and requiring only link position measurements.

  • global adaptive output feedback tracking control of robot manipulators
    Conference on Decision and Control, 1997
    Co-Authors: F Zhang, D M Dawson, M S De Queiroz, Warren E Dixon
    Abstract:

    This paper presents a solution to the problem of global, output feedback tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for Parametric Uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance.

Imad Matraji - One of the best experts on this subject based on the ideXlab platform.

  • trajectory tracking control of skid steered mobile robot based on adaptive second order sliding mode control
    Control Engineering Practice, 2018
    Co-Authors: Imad Matraji, Ahmed Aldurra, Andri Haryono, Khaled Alwahedi, Mohamed A Aboukhousa
    Abstract:

    Abstract This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and Parametric Uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and Parametric Uncertainty with less chattering.

  • pressure control in a pem fuel cell via second order sliding mode
    International Journal of Hydrogen Energy, 2012
    Co-Authors: Imad Matraji, Salah Laghrouche, Maxime Wack
    Abstract:

    Abstract Pressure difference inside the Polymer Electrolyte Membrane Fuel Cells (PEMFC) arises due to load variations, during which the pressure difference between anode and cathode rises. Practically, this problem can be avoided by equalizing anode and cathode pressures, to protect the fuel cell from permanent damage. This paper focuses on pressure regulation in the anode and cathode sides of the PEMFC. The control objective is achieved using second order sliding mode multi-input multi-output (MIMO) controller based on “Twisting algorithm”. Parametric Uncertainty is formally presented and included in a nonlinear dynamic fuel cell model. The resultant nonlinear controller is robust and is proved to guarantee performance around any equilibrium point and under Parametric Uncertainty. Simulation results show that the proposed controller has a good transient response under load variations.

Zongxia Jiao - One of the best experts on this subject based on the ideXlab platform.

  • RISE-Based Adaptive Control of Hydraulic Systems With Asymptotic Tracking
    IEEE Transactions on Automation Science and Engineering, 2017
    Co-Authors: Wenxiang Deng, Zongxia Jiao
    Abstract:

    Parametric Uncertainty associated with unmodeled disturbance always exist in physical hydraulic systems, and complicate the advanced nonlinear controller design. In this paper, an adaptive compensation with a robust integral of the sign of the error (RISE) feedback is developed for high precise tracking control of hydraulic motion system. To handle both payload and hydraulic unknown parameters in one controller, a chain of integrator nonlinear system model is first derived, and an adaptive RISE controller is then proposed, in which adaptive law is synthesized to handle Parametric Uncertainty and RISE robust term to attenuate unmodeled disturbance. The major feature of the proposed controller is that it can theoretically guarantee asymptotic tracking performance with a continuous control input, in the presence of various Parametric uncertainties and unmodeled disturbances such as unconsidered dynamics as well as external disturbances via Lyapunov analysis. However, the proposed controller takes the acceleration as a system state, which usually suffers heavy noise pollution and thus cannot be utilized directly in actual control. To solve this practical issue, in this paper, a tracking differentiator is employed to extract high-quality acceleration signal and to make the proposed controller feasible execution. The effectiveness of the proposed nonlinear controller is demonstrated via comparative experimental results.

  • adaptive backstepping control of spacecraft rendezvous and proximity operations with input saturation and full state constraint
    IEEE Transactions on Industrial Electronics, 2017
    Co-Authors: Liang Sun, Wei Huo, Zongxia Jiao
    Abstract:

    This paper presents a six-degree-of-freedom relative motion control method for autonomous spacecraft rendezvous and proximity operations subject to input saturation, full-state constraint, kinematic coupling, Parametric Uncertainty, and matched and mismatched disturbances. Relative rotational and relative translational controllers are developed separately based on a unified adaptive backstepping technique. Both element-wise and norm-wise adaptive estimation techniques are used for handling Parametric uncertainties, kinematic couplings, and matched and mismatched disturbances, where the bounds of disturbances are unknown. Two auxiliary design systems are employed to deal with input saturation in the relative rotational and relative translational control designs, and the stability of the saturated control solution is verified. Full-state constraint of the relative pose motion is handled by using barrier Lyapunov functions while achieving a satisfactory control performance. All signals in the closed-loop system are guaranteed to be uniformly ultimately bounded, and the relative motion states are all restricted within the known constraints. Compared with the previous control designs of spacecraft rendezvous and proximity operations, the proposed control strategy in this paper can simultaneously deal with input saturation, full-state constraint, kinematic coupling, Parametric Uncertainty, and matched and mismatched disturbances. Experimental simulation results validate the performance and robustness improvement of the proposed control strategy.

F Zhang - One of the best experts on this subject based on the ideXlab platform.

  • global adaptive output feedback tracking control of robot manipulators
    IEEE Transactions on Automatic Control, 2000
    Co-Authors: F Zhang, D M Dawson, M S De Queiroz, Warren E Dixon
    Abstract:

    This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators, specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for Parametric Uncertainty and requiring only link position measurements.

  • global adaptive output feedback tracking control of robot manipulators
    Conference on Decision and Control, 1997
    Co-Authors: F Zhang, D M Dawson, M S De Queiroz, Warren E Dixon
    Abstract:

    This paper presents a solution to the problem of global, output feedback tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for Parametric Uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance.