Related papers: Novel Active Disturbance Rejection Control Based o…

In this paper, we consider a class of denial-of-service (DoS) attacks, which aims at overloading the communication channel. On top of the security issue, continuous or periodic transmission of information within feedback loop is necessary…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

This paper proposes a novel observer-based disturbance estimation method for high degree-of-freedom Euler-Lagrangian systems using an unknown input-output (UIO) sliding mode observer (SMO). Different from the previous SMO methods, this…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…

In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…

Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…

This paper presents an adaptive ensemble control for stochastic systems subject to asymmetric noises and outliers. Asymmetric noises skew system observations, and outliers with large amplitude deteriorate the observations even further. Such…

In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…

In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain…

In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes. Using the equivalence,…

This paper introduces an enhanced framework for managing Battery Energy Storage Systems (BESS) in residential communities. The non-convex BESS control problem is first addressed using a gradient-based optimizer, providing a benchmark…

This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…

In this paper, we restudy how to modify the model-free adaptive control (MFAC) to reject the disturbance both in single-input single-output (SISO) systems and multiple-input multiple-output (MIMO) systems, with the aim to pave the way for…

This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…

This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…

A large number of processes in the mesoscopic world occur out of equilibrium, where the time course of a system evolution becomes immensely important since it is driven principally by dissipative effects. Non-equilibrium steady states…

A general controller scheme for stabilizing a non-linear system, which has its origin from the linear system theory, is proposed in this paper. The proposed controller can stabilize the non-linear system subjected to initial conditions. An…

This paper presents a novel neural operator learning framework for designing boundary control to mitigate stop-and-go congestion on freeways. The freeway traffic dynamics are described by second-order coupled hyperbolic partial differential…

Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…