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The feedforward selective fixed-filter method selects the most suitable pre-trained control filter based on the spectral features of the detected reference signal, effectively avoiding slow convergence in conventional adaptive algorithms.…
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…
This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
Contemporary field-programmable gate arrays (FPGAs) are predestined for the application of finite impulse response (FIR) filters. Their embedded digital signal processing (DSP) blocks for multiply-accumulate operations enable efficient…
The purpose of this paper is to present the control system design of Tricopter. We have presented the implementation of control system in software in this paper. Tricopter's control system mainly consists of two parts Complimentary filter…
The dynamic regressor extension and mixing procedure is employed to redesign a conventional adaptive observer algorithm for affine systems. A reduced-order observer is designed without the construction of the state transition matrix. The…
Nonlinear pose (\textit{i.e,} attitude and position) filters are characterized with simpler structure and better tracking performance in comparison with other methods of pose estimation. A critical factor when designing a nonlinear pose…
In this paper, a comparative study is done on the time and frequency domain tuning strategies for fractional order (FO) PID controllers to handle higher order processes. A new fractional order template for reduced parameter modeling of…
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…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
In this paper, we propose an efficient data-driven predictive control approach for general nonlinear processes based on a reduced-order Koopman operator. A Kalman-based sparse identification of nonlinear dynamics method is employed to…
The design of specified nonlinear mechanical responses into a structure or material is a highly sought after capability, which would have a significant impact in areas such as wave tailoring in metamaterials, impact mitigation, soft…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
In this work, a non-linear controller designed using non-linear transformation linearization and feedback is proposed for an inverter connected to a weak grid through a single-stage inductive filter. The proposed strategy is…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…
The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…
In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based on polytopic inclusion functions, which is able to…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…