Related papers: Robust Simulation for Hybrid Systems: Chattering P…
This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…
This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
In this report it is shown that the implicit Euler time-discretization of some classes of switching systems with sliding modes, yields a very good stabilization of the trajectory and of its derivative on the sliding surface. Therefore the…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Time-optimal control for high-order chain-of-integrator systems with full state constraints remains an open and challenging problem within the discipline of optimal control. The behavior of optimal control in high-order problems lacks…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel…
The considered continuous-and-discrete hybrid system is a cyclic relay of smooth flows on an $n$-dimensional manifold $M$, where the discrete process of switching from each flow to the next takes place on the boundaries of the corresponding…
This work outlines a new three-dimensional diffuse interface finite volume method for the simulation of multiple solid and fluid components featuring large deformations, sliding and void opening. This is achieved by extending an existing…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Switches in real systems take many forms, such as impacts, electronic relays, mitosis, and the implementation of decisions or control strategies. To understand what is lost, and what can be retained, when we model a switch as an…
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 address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…
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…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…
Motivated by the concept of Quasi-Sliding Mode (QSM) in discrete-time systems, this paper presents a novel approach that relaxes the requirement of ubiquitous exact sliding motion in continuous-time systems, aiming to achieve an…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
Stochastic simulation methods can be applied successfully to model exact spatio-temporally resolved reaction-diffusion systems. However, in many cases, these methods can quickly become extremely computationally intensive with increasing…