Related papers: Geometric PID Controller for Stabilization of Nonh…
This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
The paper deals with a non-linear system largely used in biology, which, in certain conditions and for particular coefficient values, becomes linear, with a linear diagram over a large range of time. It can be used as a veritable regulator…
We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic…
Modern automation systems rely on closed loop control, wherein a controller interacts with a controlled process, based on observations. These systems are increasingly complex, yet most controllers are linear Proportional-Integral-Derivative…
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
A Nonlinear PID (NLPID) controller is proposed to stabilize the translational and rotational motion of a 6-DOF UAV quadrotor system and enforce it to track a given trajectory with minimum energy and error. The complete nonlinear model of…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
Classical Proportional-Integral-Derivative (PID) control has been widely successful across various industrial systems such as chemical processes, robotics, and power systems. However, as these systems evolved, the increase in the nonlinear…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge…