Related papers: A High-Order Sliding Mode Observer: Torpedo Guidan…
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
Chattering phenomena is the major problem affecting sliding mode control (SMC). Also, finding a suitable structure and appropriate parameters values of fuzzy logic system (FLS) is a complex and difficult task. In addition, the stability of…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems. This paper presents the design and implementation of a tendon-driven robotic wrist joint together with an efficient Sliding…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
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…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
The problem we focus on in this paper is to find a nearly optimal sliding mode controller of continuous-time nonlinear multiple-input multiple-output (MIMO) systems that can both reduce chattering and minimize the cost function, which is a…
The regulation by sliding mode control (SMC) is recognized for its qualities of robustness and dynamic response. This article will briefly talk about the regulation principles by sliding mode as well as the application of this approach to…
In this paper, a novel adaptive-gain Second Order Sliding Mode (SOSM) observer is proposed for multicell converters by considering it as a class of hybrid systems. The aim is to reduce the number of voltage sensors by estimating the…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
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…