6 citations · 17 across the 14 of their papers we have counts for
5 papers · 1 filter
Stability Analysis of a Feedback-linearization-based Controller with Saturation: A Tilt Vehicle with the Penguin-inspired Gait Plan
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Saturations in control signal can challenge the stability proof of a feedback-linearization-based controller, even leading the system unstable [1]. Thus, several approaches are est…
State Drift and Gait Plan in Feedback Linearization Control of A Tilt Vehicle
Zhe Shen, Takeshi Tsuchiya
To stabilize a conventional quadrotor, simplified equivalent vehicles, e.g., autonomous car, are developed to test the designed controller. Based on that, various controllers based…
Singular Zone in Quadrotor Yaw-Position Feedback Linearization
Zhe Shen, Takeshi Tsuchiya
It is well known that the conventional quadrotor is an under-actuated MIMO system. The number of the inputs is less than the degree of freedom. One approach in controlling this non…
The Pareto-frontier-based Stiffness of A Controller: Trade-off between Trajectory Plan and Controller Design
Zhe Shen, Takeshi Tsuchiya
Approaching a set goal for a UAV comprises a trajectory plan and a controller design (control after plan problems). The optimal trajectory (reference) is calculated before being tr…
A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem
Zhe Shen, Takeshi Tsuchiya
This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal. Copenhagen Limit is in the form of a lim…