Eduardo V. L. Nunes

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This paper generalizes and validates experimentally the applicability of a recently developed output-feedback sliding mode tracking controller based on a hybrid switching compensator. The proposed controller can deal with plants of arbitrary relative degree by using a locally exact differentiator of higher order based on second order sliding modes (SOSM).(More)
This paper considers the localizaton and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the Newton method. The robot localization is obtained using information from odometric and ultrasonic sensors through a Kalman Filter. Simulation and experimental results illustrate the efficacy(More)
An output-feedback sliding mode controller is proposed for uncertain plants with relative degree higher than one in order to achieve asymptotic exact tracking of a reference model. To compensate the relative degree, a lead filter scheme is proposed such that global stability and asymptotic exact tracking are obtained. The scheme is based on a convex(More)
  • ROBOT, Renan S. Freitas, +10 authors Peter W. J. Derks
  • 2015
DORIS is a mobile robot for remote supervision, diagnosis, and data acquisition on offshore facilities. The proposed system is composed of a rail-guided robot capable of carrying different sensors through the inspected area. This paper presents a general overview of the robot, and a description of the developed embedded electronics, power supply system and(More)
This paper proposes a new analysis technique called “ISS regulator approach” to show that a simple causal PD controller plus feedforward using only position measurements solves the global output feedback tracking control problem of robot manipulators with arbitrarily small damping. To this end, we first show that a causal PD regulator leads to a global(More)