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In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper deals with design of maximum hands-off hybrid control sequences for discrete-time switched linear systems. It is a sparsest combination of a discrete control sequence (i.e. the switching sequence) and a continuous control…
The propagation of traffic congestion along roads is a commonplace nonlinear phenomenon. When many roads are connected in a network, congestion can spill from one road to others as drivers queue to enter a congested road, creating further…
The "folding algorithm"\cite{fold1} is a matrix product state algorithm for simulating quantum systems that involves a spatial evolution of a matrix product state. Hence, the computational effort of this algorithm is controlled by the…
In this article, we present an analysis of the effects of singular perturbations on the sliding motion in Filippov systems. We show that singular perturbations may lead to qualitatively distinct topologies of phase space on the switching…
When an oscillator switches abruptly between different frequencies, there is some ambiguity in deciding how the system should be modelled at the switch. Here we describe two seemingly natural models of a switch in a simple…
A new scheme that tightly couples kinetic turbulence codes across a spatial interface is introduced. This scheme evolves from considerations of competing strategies and down-selection. It is found that the use of a composite kinetic…
For piecewise-smooth differential systems, in this paper we focus on crossing limit cycles and sliding loops bifurcating from a grazing loop connecting one high multiplicity tangent point. For the low multiplicity cases considered in…
Sliding motion is evolution on a switching manifold of a discontinuous, piecewise-smooth system of ordinary differential equations. In this paper we quantitatively study the effects of small-amplitude, additive, white Gaussian noise on…
Lipschitz continuous sliding-mode controllers (LCSMC) are developed as the integral of discontinuous SMC, producing control signals of finite slope. Nevertheless, LCSMC still generate chattering in the presence of fast parasitic dynamics.…
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
In large distributed systems, failures are a daily event occurring frequently, especially with growing numbers of computation tasks and locations on which they are deployed. The advantage of representing an application with a workflow is…
The increasing integration of renewable energy sources has introduced complex dynamic behavior in power systems that challenge the adequacy of traditional continuous-time modeling approaches. These developments call for modeling frameworks…
This paper presents two methods for implementing complex-valued sliding mode controllers in three-phase power converters. The paper includes the description of the algorithms and a detailed analysis of the proposed implementations. The…
Hybrid systems are increasingly used in critical applications such as medical devices, infrastructure systems, and autonomous vehicles. Lince is an academic tool for specifying and simulating such systems using a C-like language with…
This paper investigates a sample-based solution to the hybrid mode control problem across non-differentiable and algorithmic hybrid modes. Our approach reasons about a set of hybrid control modes as an integer-based optimization problem…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…