Related papers: A new active disturbance controller based on an im…
Phase shaping using fractional order (FO) phase shapers has been proposed by many contemporary researchers as a means of producing systems with iso-damped closed loop response due to a stepped variation in input. Such systems, with the…
This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control performance…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the…
The recently proposed multi-chirp waveform, affine frequency division multiplexing (AFDM), is considered as a potential candidate for integrated sensing and communication (ISAC). However, acquiring accurate target sensing parameter…
Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or…
This paper proposes an integrated sensing and communications (ISAC) system based on affine frequency division multiplexing (AFDM) waveform. To this end, a metric set is designed according to not only the maximum tolerable delay/Doppler, but…
Nyquist criterion-based impedance ratio criteria (IRCs) have been widely applied for inspecting the risk of small-signal instability among converter-based AC power systems. Aided by a comparative study on voltage source converter, including…
To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While…
This contribution deals with the creation of numerical models for the simulation of the dynamic characteristics of fractional-order control systems and their comparison with analytical models. We give the results of the comparison 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…
We consider a new fractional order chaotic system displaying an interesting behavior. A necessary condition for the system to remain chaotic is derived. It is found that chaos exists in the system with order less than three. Using the…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
A novel toolbox named FLOreS is presented for intuitive design of fractional order controllers (FOC) using industry standard loop shaping technique. This will allow control engineers to use frequency response data (FRD) of the plant to…
In this paper, synchronization of fractional order Coullet system with precise and also unknown parameters are studied. The proposed method which is based on the adaptive backstepping, has been developed to synchronize two chaotic systems…
In this work, we introduce a new three-dimensional chaotic differential dynamical system. We find equilibrium points of this system and provide the stability conditions for various fractional orders. Numerical simulations will be used to…
In multirotor systems, guaranteeing safety while considering unknown disturbances is essential for robust trajectory planning. The Forward reachable set (FRS), the set of feasible states subject to bounded disturbances, can be utilized to…
This paper presents a novel nonlinear (reset) disturbance observer for dynamic compensation of bounded nonlinearities like hysteresis in piezoelectric actuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novel Constant-gain…
This paper presents a data-integrated framework for learning the dynamics of fractional-order nonlinear systems in both discrete-time and continuous-time settings. The proposed framework consists of two main steps. In the first step,…