Related papers: Adaptive super-twisting observer for fault reconst…
In this paper, a novel adaptive-gain Second Order Sliding Mode (SOSM) observer is proposed for multicell converters by considering it as a class of hybrid systems. The aim is to reduce the number of voltage sensors by estimating the…
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
The development of disturbance estimators using extended state observers (ESOs) typically assumes that the system is observable. This paper introduces an improved method for systems that are initially unobservable, leveraging Taylor…
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
In this paper, a full-bridge boost power converter topology is studied for power factor control, using output high order sliding mode control. The AC/DC converters are used for charging the battery and super-capacitor in hybrid electric…
The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists in augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
This paper provides a novel surface design and experimental evaluation of a super-twisting algorithm (STA) based control for hydraulic cylinder actuators. The proposed integral sliding surface allows to track a sufficiently smooth reference…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…
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…