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Mostrando ítems 1-6 de 6
Artículo
A new controller for the inverted pendulum on a cart
(2008)
This paper presents a complete solution to the problem of swinging-up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy-shaping law is able ...
Artículo
Ultimate bounded stability and stabilization of linear systems interconnected with generalized saturated functions
(Elsevier, 2011)
This paper proposes some ultimate bounded stability analysis and stabilization conditions for systems involving actuators with different nonlinear elements, like for instance both saturation and dead-zone or both saturation ...
Artículo
On the necessity of sufficient LMI conditions for time-delay systems arising from Legendre approximation
(Elsevier, 2024-01)
This work is dedicated to the stability analysis of time-delay systems with a single constant delay using the Lyapunov-Krasovskii theorem. This approach has been widely used in the literature and numerous sufficient ...
Artículo
Path and Trajectory Planning of a Tethered UAV-UGV Marsupial Robotic System
(Institute of Electrical and Electronics Engineers.IEEE, 2023)
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable ...
Artículo
A controller for practical stability of capacitor voltages in a five-level diode-clamped converter
(Elsevier, 2016-09)
The balancing of the dc-link capacitor voltages represents the main technical challenge in multilevel diode-clamped converters. In particular, when the number of capacitors is greater than two, these power conversion systems ...
Artículo
MPC for Tracking Periodic References
(Institute of Electrical and Electronics Engineers. IEEE, 2016-04)
In this paper a new model predictive controller for tracking arbitrary periodic references is presented. The proposed controller is based on a single layer that unites dynamic trajectory planning and control. A design ...