Related papers: On the Improved Nonlinear Tracking Differentiator …
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are…
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different…
A nonlinear differentiator being fit for rapid convergence is presented, which is based on singular perturbation technique. The differentiator design can not only sufficiently reduce the chattering phenomenon of derivative estimation by…
Novel nonlinear damping control is proposed for the second-order systems. The proportional output feedback is combined with the damping term which is quadratic to the output derivative and inverse to the set-point distance. The global…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
This paper presents versions of integral input-to-state stability and integral input-to-integral-state stability for nonlinear sampled-data systems, under the low measurement rate constraint. In particular, we compensate the lack of…
This paper examines a robust data-driven approach for the safe deployment of systems with nonlinear dynamics using their imperfect digital twins. Our contribution involves proposing a method that fuses the digital twin's nominal trajectory…
The effectiveness of data-driven techniques significantly relies on the input signal used to generate the training data. Nevertheless, there is a notable gap in research when it comes to designing excitation signals for identifying…
Nonlinear modal decoupling (NMD) was recently proposed to nonlinearly transform a multi-oscillator system into a number of decoupled oscillators which together behave the same as the original system in an extended neighborhood of the…
We present an approach for the detection of sharp change points (short-lived and persistent) in nonlinear and nonstationary dynamic systems under high levels of noise by tracking the local phase and amplitude synchronization among the…
This article proposes a data-driven PID controller design based on the principle of adaptive gain optimization, leveraging Physics-Informed Neural Networks (PINNs) generated for predictive modeling purposes. The proposed control design…
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge…
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…
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
Proportional-Integral-Differential (PID) control is widely used in industrial control systems. However, up to now there are at least two open problems related with PID control. One is to have a comprehensive understanding of its robustness…
This paper considers the stabilization of nonlinear continuous-time dynamical systems employing periodic event-triggered control (PETC). Assuming knowledge of a stabilizing feedback law for the continuous-time system with a certain…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…