Open Access. Powered by Scholars. Published by Universities.®
- Discipline
Articles 1 - 2 of 2
Full-Text Articles in Engineering
On State-Feedback Controller Synthesis For A Class Of Second-Order Nonlinear Systems With Uncertainties, Jenq-Lang Wu, Chee-Fei Yung
On State-Feedback Controller Synthesis For A Class Of Second-Order Nonlinear Systems With Uncertainties, Jenq-Lang Wu, Chee-Fei Yung
Journal of Marine Science and Technology
This paper presents a constructive method to design stabilizing controllers for a class of second-order uncertain nonlinear systems whose input parts may vanish at the origin. A sufficient condition for the existence of stabilizing state feedback controllers is provided. Under the small control property, a formula is proposed for constructing continuous stabilizing feedback laws. In the case that the small control property does not hold, another formula for constructing continuous state feedback controllers, with small control magnitude near the origin, to achieve robust practical stability is presented.
Robust Control For Coaxial Two-Wheeled Electric Vehicle, Jia-Sheng Hu, Mi-Ching Tsai, Feng-Rung Hu, Yoichi Hori
Robust Control For Coaxial Two-Wheeled Electric Vehicle, Jia-Sheng Hu, Mi-Ching Tsai, Feng-Rung Hu, Yoichi Hori
Journal of Marine Science and Technology
This paper investigates robust motion pilot control of a coaxial two-wheeled electric vehicle (CTWEV) where the feedback control system is solely based on the angle of inclination without using any velocity information. H∞ control is employed to design a robust stabilizing controller. The proposed scheme involves an electronic differential steering algorithm to pilot the CTWEV via a joystick. Finally, evaluation examples and simulations are provided to demonstrate the effectiveness of the system