A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.

This paper addresses the speed and flux regulation of induction motors under the assumption that the motor parameters are poorly known. An adaptive passivity-based control is proposed that guarantees robust regulation as well as accurate estimation of the electrical parameters that govern the motor performance. This paper provides a local stability analysis of the adaptive scheme, which is illustrated by simulations and supported by a successful experimental validation on an industrial product.

The purpose of this paper is to introduce a new trajectory tracking controller applied to the Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the pendulum remains regulated at the upward position. This controller is derived from the input-output feedback linearization technique. The rigorous analysis of the internal dynamics is presented, showing that the tracking error and the regulation error trajectories are uniformly ultimately bounded. Experimental results show the validity of the introduced theory. Additionally, a detailed experimental study is also presented, where a PID controller and an output tracking controller are compared with respect to the new algorithm, which presents the best performance.