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Rudi Uswarman, Swadexi Istiqphara, Rajif Agung Yunmar, Arkham Zahri Rakhman
Pág. 135 - 143
Sliding Mode Control (SMC) used to control the stability of a quadcopter from disturbances and uncertainties. This technique has two main advantages: the nonlinear dynamics and modelling errors of the quadcopter can be eliminated by switching function an...
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T. Espinoza-Fraire, Armando Saenz, Isaac Gandarilla and Wojciech Giernacki
This work applies an adaptive PD controller based on MRAS (Model Reference Adaptive System) using Lyapunov theory with sliding mode theory to a Fixed-wing MAV (Mini Aerial Vehicle). The objective is to design different adjustment mechanisms to obtain a r...
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En Lu, Jialin Xue, Tiaotiao Chen and Song Jiang
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous...
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E. Anyuli Alvarez Salcido, Daniel Centeno-Barreda, Yukio Rosales, Ricardo Lopéz-Gutiérrez, Sergio Salazar and Rogelio Lozano
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg ex...
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Yi Ren, Lei Zhang, Wenbin Huang and Xi Chen
This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for...
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Jairo Olguin-Roque, Sergio Salazar, Iván González-Hernandez and Rogelio Lozano
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve a...
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Mujahed Al-Dhaifallah, Fahad M. Al-Qahtani, Sami Elferik and Abdul-Wahid A. Saif
Quadrotors, commonly known as drones or unmanned aerial vehicles (UAVs), play an important role in load transportation. The complex vehicles used for transporting loads and surveillance purposes can be replaced through the ease of use and mechanical simp...
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Aminurrashid Noordin, Mohd Ariffanan Mohd Basri and Zaharuddin Mohamed
The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the p...
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Jihe Wang, Qingxian Jia and Dan Yu
The issue of active attitude fault-tolerant stabilization control for spacecrafts subject to actuator faults, inertia uncertainty, and external disturbances is investigated in this paper. To robustly and accurately reconstruct actuator faults, a novel mi...
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Yasser Bin Salamah
In the past few years, there has been a growing interest among researchers in developing control systems for autonomous vehicles, specifically for tractor-trailer systems. This newfound interest is driven by the potential benefits of enhancing safety, re...
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