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A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments
Abstract : This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multi-input-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear ones depending on the system states. The proposed controller takes advantage of both RISE control robustness towards uncertainties and the special behavior of nonlinear feedback gains towards time-varied parameters. A Lyaponuv-based stability analysis to prove the semiglobal asymptotic tracking of the proposed new controller is included. In order to validate the relevance of the proposed controller, real-time experimental results are presented and discussed. Experiments have been conducted on a Delta parallel manipulator, in different operating conditions including payload and speed variations.
Cited literature [31 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02406094
Contributor : Ahmed Chemori <>
Submitted on : Thursday, December 12, 2019 - 7:58:52 AM
Last modification on : Friday, July 17, 2020 - 11:05:26 AM
Document(s) archivé(s) le : Friday, March 13, 2020 - 9:45:33 PM
Contributor : Ahmed Chemori <>
Submitted on : Thursday, December 12, 2019 - 7:58:52 AM
Last modification on : Friday, July 17, 2020 - 11:05:26 AM
Document(s) archivé(s) le : Friday, March 13, 2020 - 9:45:33 PM
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IJC_paper_revised_FV.pdf
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