Related papers: Integral surface based Second Order Sliding Mode C…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
In this note, it is shown by counterexamples, theoretical analysis and simulation tests that the two types of sliding-mode controllers presented in the paper [1] fail to solve the stabilization problem of a class of under-actuated…
The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple PI-like controller for a Dubins vehicle in the GPS-denied…
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
A multi-variable PI (proportional integrating) controller is proved to be optimal for an important class of control problems where performance is specified in terms of frequency weighted H-infinity norms. The problem class includes…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
A resonance and an antiresonance peak characterize many industrial mechanisms dynamics driven by a Permanent Magnet Synchronous Motor (PMSM). The presence of the resonance peak can lead to vibrations and instability of the system. On that…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
This paper investigates transient performance of inverter-based microgrids in terms of the resistive power losses incurred in regulating frequency under persistent stochastic disturbances. We model the inverters as second-order oscillators…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
We present a sampling-based control approach that can generate smooth actions for general nonlinear systems without external smoothing algorithms. Model Predictive Path Integral (MPPI) control has been utilized in numerous robotic…
A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface…
This note investigates the controllability of two unstable second-order systems that are coupled through a common input. These dynamics occur for different types of inverted-pendulum systems. Controllability is quantified by the volume of…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…