Related papers: MIMO First and Second Order Discrete Sliding Mode …
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…
Model Predictive Control is an extremely effective control method for systems with input and state constraints. Model Predictive Control performance heavily depends on the accuracy of the open-loop prediction. For systems with uncertainty…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
This paper develops a distributed model predictive control (DMPC) strategy for a class of discrete-time linear systems with consideration of globally coupled constraints. The DMPC under study is based on the dual problem concerning all…
Accurately capturing the nonlinear dynamic behavior of structures remains a significant challenge in mechanics and engineering. Traditional physics-based models and data-driven approaches often struggle to simultaneously ensure model…
The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the…
The second-order sub-optimal sliding mode control (SMC), known in the literature for the last two decades, is extended by a control-off mode which allows for saving energy during the finite time convergence. The systems with relative degree…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
Driven by advances in hardware and software technologies, nonlinear model predictive control (NMPC) has gained increasing adoption in both industry and academia over the past decades. However, its practical deployment is often limited by…
In this paper, the dynamic couplings among different inputs and outputs of a highly nonlinear spark ignition (SI) engine control problem during the cold start phase are evaluated by using relative gain array (RGA) technique. First, based on…
In real-world problems, uncertainties (e.g., errors in the measurement, precision errors) often lead to poor performance of numerical algorithms when not explicitly taken into account. This is also the case for control problems, where…
The recently introduced energy-saving extension of the sub-optimal sliding mode control (SOSMC), which is known in the literature for the last two and half decades, incorporates a control-off mode that allows for saving energy during the…
This paper presents a model-free, data-driven control synthesis method called dynamic mode adaptive control (DMAC) for systems whose mathematical models are unavailable or unsuitable for classical control design. The proposed approach…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
Circuits' and in particular DC/DC converters' switching behavior is analyzed in this paper using the equivalent control modeling of the dynamic systems' sliding mode regime. As a representative example and also being one of the most complex…
Based on equivalent-dynamic-linearization model (EDLM), we propose a kind of model predictive control (MPC) for single-input and single-output (SISO) nonlinear or linear systems. After compensating the EDLM with disturbance for…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…
For sufficiently wide ranges of applied control signals (control voltages), MEMS and piezoelectric Deformable Mirrors (DMs), exhibit nonlinear behavior. The nonlinear behavior manifests itself in nonlinear actuator couplings, nonlinear…
This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control performance…