Control of nonholonomic mobile robot based on immersion and invariance adaptive control

El-Ferik, Sami; Imran, Imil Hamda

doi:10.1109/ssd.2015.7348199

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Cited by 2 publications

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“…Therefore the analysis is conducted to ensure the stability in front of the mismatch estimation error dynamics. The application of this scheme for under-actuated systems can be found in [3,7]. More sophisticated results for 6-DOF UAV dynamic with unknown constant parameters was developed in [6].…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle

Imran

Montazeri

2020

2020 International Conference Nonlinearity, Information and Robotics (NIR)

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Section: Introductionmentioning

confidence: 99%

An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle

Imran

Montazeri

2020

2020 International Conference Nonlinearity, Information and Robotics (NIR)

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Initialized Model Reference Adaptive Control for Lower Limb Exoskeleton

2019

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In this paper, a Proportional-Integral-Derivative (PID) controller tuning scheme by Initialized Model Reference Adaptive Control (IMRAC) for a Lower Limb Exoskeleton (LLE) is presented. Mathematical expression of the LLE structure is determined using Lagrangian and Kirchoff's equations. The transfer function of the structure based on the physical features of the links, and actuators is established under Range of Motion (RoM) condition. The PID controller of the LLE is tuned in a closed-loop control system using Ziegler-Nichols (Z-N) for initializing parameters of IMRAC. Adjustment mechanism is a gradient based method for real-time adaptation of tuned PID controller. A Lyapunov function has been applied to confirm the stability of IMRAC. The proposed IMRAC shows faster convergence in comparison with conventional non-initialized model reference adaptive control. It can be ascertained the proposed tuning scheme is applicable for real-time tuning of PID controller of LLE.

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Control of nonholonomic mobile robot based on immersion and invariance adaptive control

Cited by 2 publications

References 9 publications

An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle

An Adaptive Scheme to Estimate Unknown Parameters of an Unmanned Aerial Vehicle

Initialized Model Reference Adaptive Control for Lower Limb Exoskeleton

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