Related papers: A Robust Sensorless Controller-Observer Strategy f…
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 investigates the design of a robust output-feedback linear parameter-varying (LPV) gain-scheduled controller for the speed regulation of a surface permanent magnet synchronous motor (SPMSM). Motor dynamics is defined in the…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
The characterization of an interior permanent magnet synchronous machine (IPMSM) requires numerical analysis of the nonlinear magnetic motor model in different load conditions. To obtain the case-specific best machine behavior, a strategy…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature.…
This paper proposes a nonlinear magnetics model for Permanent Magnet Synchronous Machines (PMSMs) that accurately captures the effects of magnetic saturation in the machine iron and variations in rotor temperature on the permanent magnet…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
In a recent paper [18] the authors proposed the first solution to the problem of designing a {\em globally exponentially stable} (GES) flux observer for the interior permanent magnet synchronous motor. However, the establishment of the…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
We propose a robust nonlinear model predictive control design with generalized zone tracking (ZMPC) in this work. The proposed ZMPC has guaranteed convergence into the target zone in the presence of bounded disturbance. The proposed…
In this paper we address the problems of flux and speed observer design for voltage-fed induction motors with unknown rotor resistance and load torque. The only measured signals are stator current and control voltage. Invoking the recently…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
This paper presents the modeling, control design, and performance analysis of a Magnetic Ball Suspension System (MBSS), a nonlinear and inherently unstable electromechanical system used in various precision applications. The system's…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
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…