Related papers: Super-twisting based sliding mode control of hydra…
This paper proposes a new robust control method for quantum systems with uncertainties involving sliding mode control (SMC). Sliding mode control is a widely used approach in classical control theory and industrial applications. We show…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
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…
This paper focuses on a drag-reducing control strategy on a 2D-simulated laminar flow past a cylinder. Deep reinforcement learning algorithms have been implemented to discover efficient control schemes, using two synthetic jets located on…
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…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
Reluctance actuators are preferred for high-precision applications. Due to resistive losses in the coils, the accuracy of this type of actuator will reduce in quasi-static operation mode within a vacuum environment. By using soft permanent…
This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed,…
In this paper, the problem of output feedback sliding mode control of linear sampled-data multi-input multi-output systems is considered. Existing sliding mode control schemes can attenuate the influence of an external disturbance by…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
We have developed and tested a novel type of driver for insertion devices. In our approach, we compensate for the magnetic forces acting on the insertion device (ID) arrays by installing a number of compact hydraulic cylinders along the ID.…
In this paper, a variable gain super-twisting algorithm based on a barrier function is proposed for a class of first order disturbed systems with uncertain control coefficient and whose disturbances derivatives are bounded but they are…
This paper deals with the problems of stochastic stability and sliding mode control for a class of continuous-time Markovian jump systems with mode-dependent time-varying delays and partly unknown transition probabilities. The design method…
With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…