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Mejia-Nava, Rosa Adela,Ibrahimbegovic, Adnan,Lozano-Leal, Rogelio Techno-Press 2020 Coupled systems mechanics Vol.9 No.1
In this paper we study the control for nonlinear geometric instability problem of a deep or a shallow truss or yet a frame structure. All the structural models are built with geometrically exact truss and beam finite elements.The proposed models can successfully handle large overall motion under static or dynamic conservative load.The control strategy considers adding a damping from either friction device or viscous damper.This kind of control belong to well-known concept of passivity. Different examples are presented in order to illustrate the proposed theoretical developments.
Abraham Efraim Rodríguez-Mata,Ivan González-Hernández,Jesus Gabriel Rangel-Peraza,Sergio Salazar,Rogelio Lozano Leal 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2
Wind is considered a strong disturbance for quadrotor aircrafts (UAV) when an outdoor task at a fixed point is carried out. The effect of wind produces a distortion on the attitude of the vehicle which is reflected on undesired longitudinal movements. This paper addresses a real-time implementation and design of a robust embedded control-observer based on a type high-gain observer algorithm for on-line estimation and compensation of external disturbances produced by wind gusts on an autonomous quadrotor aircraft. A real-time experimental implementation of embedded Residual High Gain algorithm control is proposed in order to eliminate the effects of real perturbations in the hover position of the UAV. A Lyapunov function was used to practical stability analysis the system. Also numerical simulations were carried out to estimate wind behavior by the use of Drydel mathematical wind model. The main contribution of this work is the implementation of a Residual High Gain Observer in an outdoor real-time experiment in presence of real wind gusts perturbations. The proposed embedded algorithm control improves the stabilization of an UAV in the presence of real wind gusts with average of 8 m/s. The proposed algorithm improved the UAV behavior as shown by the GPS position experimental results, decreasing the wind effect on the translational movement of the aircraft.