Name
Title | ||
|---|---|---|
A New Time-Varying Feedback Rise Control For Second-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 behaviour 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. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1080/00207179.2019.1704063 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | DocType | Volume |
RISE control, nonlinear feedback gains, parallel kinematic manipulators, stability analysis, real-time experiments | Journal | 94 |
Issue | ISSN | Citations |
8 | 0020-7179 | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hussein Saied | 1 | 0 | 1.35 |
| Ahmed Chemori | 2 | 73 | 18.24 |
| Mohamed Bouri | 3 | 27 | 11.96 |
| Maher El Rafei | 4 | 0 | 0.34 |
| Clovis Francis | 5 | 34 | 11.20 |
| F. Pierrot | 6 | 479 | 92.02 |