Adaptive Control of an Unbalanced TwoAxis Gimbal for Application to Inertially Stabilized Platforms Inertially stabilized platforms are subject of interest to different engineering areas, such as telecommunications, robotics and military systems. The objective is to maintain the attitude of a desired object constant despite the movements of a host vehicle. This paper deals with the problem of stabilizing a platform using a two degree of freedom gimbal as mechanical actuator. Mechanical unbalances are considered and a MIMO version of the Binary Model Reference Adaptive Controller is employed. The algorithm employs a newly proposed differentiator based in highorder sliding modes that is global and exact. This differentiator can also be used for monitoring and estimation purposes in robotics systems. Simulation results are presented using as inputs the experimental data acquired from a vehicle going through a circuit with ground obstacles.

An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator JointSpace Inertia Matrix The illconditioning of the jointspace inertia matrix plays an important role in the dynamic behavior of robot manipulators, as well as in the controllersu0027 performance. Indeed, due to the illconditioning, small perturbations in the system can produce large changes in the numerical solutions, which can lead to instability. Moreover, this characteristic is intrinsic to a phenomenon of illconditioning in the mechanism itself, which suggests that it may be more difficult to control the mechanism. In this context, this paper proposes an adaptive controller to be used together with an algorithm that ensures better conditioning of the inertia matrix. To evaluate the proposed technique, we compared it with two widely used controllers via statistical analysis. The results showed that the proposed adaptive controller presents a better performance than the one based on the inverse dynamics with feedback linearization, and similar results when compared to a PID controller with gravity compensation.