6 accepted papers
In this paper, we propose a novel adaptive feedforward super-twisting sliding mode control algorithm to resolve the tracking control problem of parallel manipulators. The proposed control scheme includes three main terms, (i) the standard super-twisting algorithm, (ii) an adaptive feedforward dynami…
In this paper, a new robust model-based super-twisting algorithm is proposed as a control solution for parallel kinematic manipulators (PKMs). The conventional super-twisting algorithm for robot manipulators has the structure of a computed-torque control which can be sensitive to measurement noise.…
In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE control law ensures a semi-global asymptotic…
This paper deals with a new dynamic formulation of parallel manipulators incorporating the actuator and friction dynamics to be utilized in control. A model-based controller, PD with computed feedforward, is implemented for a parallel robot taking into consideration the formulated dynamics. The moti…
This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures. A complete architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is designed with a nonlinear observer to generate residuals and an inference model…
This paper presents a fault tolerant control strategy based on an offline control mixing for an octorotor unmanned aerial vehicle (UAV) regarding several rotor failures. This strategy consists of a set of explicit laws, computed offline, each one dedicated to a fault situation. The corresponding law…