Related papers: Nonlinear control for an uncertain electromagnetic…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
We study the electromechanical transduction in nanoelectromechanical actuators and show that the differences in scaling for electrical and mechanical effects lead to an overall non-trivial scaling behavior. In particular, the previously…
The problem of partial stabilization for nonlinear control systems described by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method which leads to establishing the…
The recent discovery of electro-active polymers has shown great promises in the field of soft robotics, and was logically followed by experimental, numerical and theoretical developments. Most of these studies were concerned with systems…
Nonlinear spin systems exhibit rich and exotic dynamical phenomena, offering promising applications ranging from spin masers and time crystals to precision measurement. Recent theoretical work [T. Wang et al., Commun. Phys. 8, 41 (2025)]…
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…
A modification of Coulomb's law of friction uses a variable coefficient of friction that depends on a power law in the energy of mechanical oscillation. Through the use of three different exponents: 0, 1/2 and 1; all commonly encountered…
The present study presents a new micro electromagnetic actuator utilizing a PDMS membrane with a magnet. The actuator is integrated with micro coils to electromagnetically actuate the membrane and results in a large deflection. The micro…
Piezo-electric material can be controlled with current as the electrical variable, instead of voltage. The main purpose of this paper is to derive the governing equations for a current-controlled piezo-electric beam and to investigate…
The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
The study deals with a rotor-stator contact inducing vibration in rotating machinery. A numerical rotor-stator system, including a non-linear bearing with Hertz contact and clearance is considered. To determine the non-linear responses of…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…