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241 REFERENCES [1] V. Mehrmann and T. Stykel, " Balanced truncation model reduction for large-scale systems in descriptor form, " in Dimension Reduction of Large-Scale Systems, ser. A bisection method for measuring the distance of a stable matrix to the unstable matrices, " SIAM J. A fast algorithm to compute the-norm of a transfer function matrix, " Syst.(More)
This study focuses on the development of a nonlinear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lyapunov stability analysis is included to prove semiglobal(More)
—A saturated controller is developed for a class of uncertain, second-order, nonlinear systems which includes time-varying and nonlin-early parameterized functions with bounded disturbances using a continuous control law with smooth saturation functions. Based on the robust integral of the sign of the error (RISE) control methodology, the developed(More)
A reduced-order nonlinear observer is developed to estimate the distance from a moving camera to a feature point on a static object (i.e., range identification), where full velocity and linear acceleration feedback of the calibrated camera is provided. The contribution of this work is to develop a global exponential range observer which can be used for a(More)
—A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown , time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An integral term composed of previous control values facilitates a delay-free open-loop error system and the development of(More)
A state observer is designed for estimating the structure of a moving object with time-varying velocities seen by a moving camera. A nonlinear unknown input observer strategy is used where the object’s velocity is considered as an unknown input to the perspective dynamical system. The object is assumed to be moving on a ground plane. The downward-looking(More)