Related papers: Time-varying Rotational Inverted Pendulum Control …
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly…
Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…
In recent years, the use of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
In this paper, we propose a new systematic approach based on nonquadratic Lyapunov function and technique of introducing slack matrices, for a class of affine nonlinear systems with disturbance. To achieve the goal, first, the affine…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
This paper focusses on the application of fuzzy control techniques (fuzzy type-1 and type-2) and their hybrid forms (Hybrid adaptive fuzzy controller and fuzzy-PID controller) in the area of stabilized platforms. It represents an attempt to…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
Self-adaptive system (SAS) is capable of adjusting its behavior in response to meaningful changes in the operational context and itself. Due to the inherent volatility of the open and changeable environment in which SAS is embedded, the…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
Model predictive control solves a constrained optimization problem online in order to compute an implicit closed-loop control policy. Recursive feasibility -- guaranteeing that the optimal control problem will have a solution at every time…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
This paper presents a feedback/feedforward nonlinear controller for variable-speed wind turbines with doubly fed induction generators. By appropriately adjusting the rotor voltages and the blade pitch angle, the controller simultaneously…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…