The Carleman Approximation Approach to Solve a Stochastic Nonlinear Control Problem

2010 ◽  
Vol 55 (4) ◽  
pp. 976-982 ◽  
Author(s):  
Gabriella Mavelli ◽  
Pasquale Palumbo
Keyword(s):  
Nonlinear Control ◽  
Control Problem ◽  
Approximation Approach ◽  
Carleman Approximation

Realization of a bounded feedback in a nonlinear control problem

2009 ◽  
Vol 45 (1) ◽  
pp. 96-104
Author(s):  
R. Gabasov ◽  
F. M. Kirillova ◽  
E. A. Ruzhitskaya
Keyword(s):  
Nonlinear Control ◽  
Control Problem ◽  
Bounded Feedback

PARAMETRIC APPROACH TO OPTIMAL NONLINEAR CONTROL PROBLEM USING ORTHOGONAL EXPANSIONS

2005 ◽  
Vol 38 (1) ◽  
pp. 556-561 ◽  
Author(s):  
M. Tomas-Rodriguez ◽  
C. Navarro-Hernandez ◽  
S.P. Banks
Keyword(s):  
Nonlinear Control ◽  
Control Problem ◽  
Parametric Approach ◽  
Orthogonal Expansions

scholarly journals Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Dictino Chaos ◽  
David Moreno-Salinas ◽  
Rocío Muñoz-Mansilla ◽  
Joaquín Aranda
Keyword(s):  
Nonlinear Control ◽  
Control Problem ◽  
Trajectory Tracking ◽  
Real System ◽  
Cascade Control ◽  
Control Law ◽  
Vehicle Stability ◽  
Outer Loop ◽  
The Real ◽  
Minimal Information

This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle. Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established. Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.

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