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Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are…
This paper proposes an integrated design optimization framework for the gain schedules and bending filter for the longitudinal control of a rocket during its ascent flight. Dynamic models representing the pitch/yaw motion of a rocket…
This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…
This paper presents a delay-dependent parameter-varying control design approach to address the automated blood pressure regulation problem in the critical patient resuscitation using closed-loop administration of vasopressors. The mean…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…
This letter proposes a new control strategy for wind turbine generators to decide the necessity of switches between the normal operation and frequency support modes. The idea is to accurately predict an unsafe frequency response using a…
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical…
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
A reset controller plays a crucial role in designing hybrid systems. It restricts the initial set and redefines the reset map associated with discrete transitions, in order to guarantee the system to achieve its objective. Reset controller…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…