Related papers: A High Order Sliding Mode Control with PID Sliding…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
In this paper, we study a sliding mode observer for a class of set-valued Lur'e systems subject to uncertainties. We show that our approach has obvious advantages than the existing Luenberger-like observers. Furthermore, we provide an…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
The problem of vibration suppression in helicopter rotors is the main topic of this paper. We revisit a strategy for the stabilization of such systems based on delayed feedback. By means of an improved analysis, made possible by recently…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
This paper presents an overview of the most effective ideas for the Quad-rotor project. The concept of modeling using different methods is presented. The modeling part presented the nonlinear model, and the concept of linearization using…
Urban traffic congestion is a chronic problem faced by many cities in the US and worldwide. It results in inefficient infrastructure use as well as increased vehicle fuel consumption and emission levels. Congestion is intertwined with…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
The chattering response at the MRP shadow set switching point for the controlled attitude dynamics of a rigid tumbling spacecraft using delayed state feedback control with MRPs is investigated, where the time delay is assumed to be in the…
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…