APPROXIMATE INVERSE-DYNAMICS BASED ROBUST CONTROL USING STATIC AND DYNAMIC FEEDBACK

1997 ◽  
pp. 151-179 ◽  
Author(s):  
CSABA SZEPESVÁRI ◽  
ANDRÁS LŐRINCZ
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Dynamic Feedback ◽  
Approximate Inverse

Robust control using inverse dynamics neurocontrollers

1997 ◽  
Vol 30 (3) ◽  
pp. 1669-1676
Author(s):  
Csaba Szepesvári ◽  
András Lőrincz
Keyword(s):  
Robust Control ◽  
Inverse Dynamics

scholarly journals Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Dynamic Control ◽  
Fixed Time ◽  
Inverse Dynamic ◽  
Time Control ◽  
Control Scheme ◽  
Inverse Dynamic Control

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

Adaptive Lateral Control of Reconnaissance and Strike Integrated UAV

2011 ◽  
Vol 66-68 ◽  
pp. 1461-1466
Author(s):  
Wei Xiao ◽  
Xiao Ping Zhu ◽  
Zhou Zhou
Keyword(s):  
Neural Network ◽  
Numerical Simulation ◽  
Time Delay ◽  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Inverse Dynamics ◽  
Rolling Angle ◽  
Lateral Control ◽  
Approximate Inverse ◽  
Aerial Vehicle

This paper presents a lateral Integrated Fire/Flight Control (IFFC) for a Reconnaissance and Strike integrated Unmanned Aerial Vehicle (R/S UAV). The system consists of a fire/flight coupler and an adaptive rolling angle controller. In order to improve the changeful dynamic in the rolling loop of the R/S UAV, a Neural Network (NN) is used to obtains approximate inverse dynamics of the response. Numerical simulation is performed using this method, and the results show that the proposed system improves the IFFC performance including the time delay and overshoot.

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