Nonlinear Control of Engineering Systems

Abstract-This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of the control formulation, we designed a nonlinear, model-free observer which enables the observer-controller couple to achieve asymptotic tracking. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.

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“…The dynamic terms J (·), C (·), F (·) satisfy the following bounds [12] 1 The entries of these dynamic terms are presented in Appendix I.…”

Section: System Model and Propertiesmentioning

confidence: 99%

Observer based output feedback tracking control of dynamically positioned surface vessels

Bıdıklı

Tatlıcıoğlu

Zergeroğlu

2013

2013 American Control Conference

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“…Define the actual angular velocity of the camera expressed in as , the desired angular velocity of the camera expressed in as , and the relative angular velocity of the camera with respect to expressed in as , where (22) The time derivatives of and can be developed, respectively, as [24] (23) (24) . Since these signals can be obtained from the prerecorded sequence of images, sufficiently smooth functions can also be generated for these signals.…”

Section: A Open-loop Error Systemmentioning

confidence: 99%

Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation

Gans

Fitz-Coy

et al. 2010

IEEE Trans. Contr. Syst. Technol.

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Abstract-In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control design and the stability analysis. An adaptive estimation law is designed to compensate for the lack of unknown depth information. Experimental results are provided to demonstrate the performance of the visual servo tracking controller.

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“…where s ∈ C is the Laplace variable, ǫ ∈ R is a small positive constant and κ ∈ R is a large positive constant and u(t) is the kinematic controller defined in (11). In (24), Sat(·) ∈ R n is the vector saturation function defined as follows…”

Section: A Desired Trajectory Generatormentioning

confidence: 99%

“…Zergeroglu et al [9] adaptive controller for redundant manipulators to compensate for uncertainties in the dynamic model by proposing a nonlinear controller dependent on the system model to perform task-space tracking while meeting sub-task objectives. This issue was further addressed by Tatlicioglu et al [10] by implementing the controller from [11] while integrating the sub-task controller in the stability analysis.…”

Section: Introductionmentioning

confidence: 99%

Set-point navigation of a redundant robot in uncertain environments using finite range sensors

Kapadia

Tatlıcıoğlu

Dawson

2008

2008 47th IEEE Conference on Decision and Control

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Abstract:In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.

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Nonlinear Control of Engineering Systems

Cited by 205 publications

References 20 publications

Observer based output feedback tracking control of dynamically positioned surface vessels

Observer based output feedback tracking control of dynamically positioned surface vessels

Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation

Set-point navigation of a redundant robot in uncertain environments using finite range sensors

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