Related papers: Adaptive Discrete Second Order Sliding Mode Contro…
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…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper presents an integration of nonlinear disturbance observer within proxy-based sliding mode control (IDO-PSMC) approach for Pneumatic Muscle Actuators (PMAs). Due to the nonlinearities, uncertainties, hysteresis, and time-varying…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
In this paper an attempt is made to extend the concept of the exponentially stable adaptive control to one class of multi-input-multi-output (MIMO) plants with matched nonlinearity and unknown piecewise constant parameters. Within the…
A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown…
In this paper, we present an output feedback based design of event-triggered sliding mode control for delta operator systems. For discrete-time systems, multi-rate output sampling based state estimation technique is very useful if the…
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…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
Subsynchronous oscillations (SSOs) involving grid-following converters (GFLCs) connected to weak grids are a relatively new phenomena observed in modern power systems. SSOs are further exacerbated when grids become weaker because lines are…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
The scope of this research is a problem of the direct model reference adaptive control of linear time-invariant multi-input multi-output (MIMO) plants without any a priori knowledge about system matrices. To handle it, a new method is…
Data-Driven Inversion-Based Control (D$^{2}$-IBC) is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding Mode Control (SMC) has emerged as a robust approach for…
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…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
In this paper, we investigate the global robust stabilization of linear time-invariant systems by using event-triggered sliding mode control (SMC). Different from the practical sliding mode band, which is commonly used in previous studies…