Related papers: Super-twisting based sliding mode control of hydra…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
Relative motion between soft wet solids arises in a number of applications in natural and artificial settings, and invariably couples elastic deformation and fluid flow. We explore this in a minimal setting by considering a fluid-immersed…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
This paper proposes a novel sliding mode control (SMC) method for a class of affine dynamic systems. In this type of systems, the high-frequency gain matrix (HFGM), which is the matrix multiplying the control vector in the dynamic equation…
In this paper, we develop a methodology for finite time rotor angle stability analysis using the theory of normal hyperbolic surfaces. The proposed method would bring new insights to the existing techniques, which are based on asymptotic…
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded perturbations. Both classes provide finite-time convergence…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
This paper focuses on observer based fault reconstruction for a class of nonlinear uncertain systems with Lipschitz nonlinearities. An adaptive-gain Super-Twisting (STW) observer is developed for observing the system states, where the…
We present a fully automated method that identifies attractors and their basins of attraction without approximations of the dynamics. The method works by defining a finite state machine on top of the system flow. The input to the method is…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…
Twisted string actuators (TSAs) have exhibited great promise in robotic applications by generating high translational force with low input torque. To further facilitate their robotic applications, it is strongly desirable but challenging to…
This paper proposes a novel observer-based disturbance estimation method for high degree-of-freedom Euler-Lagrangian systems using an unknown input-output (UIO) sliding mode observer (SMO). Different from the previous SMO methods, this…
In this paper, we investigate the global robust stabilization of linear time-invariant systems by using event-triggered sliding mode control (SMC). Different from the practical sliding mode band, which is commonly used in previous studies…
Dynamic induction control is a wind farm flow control strategy that utilises wind turbine thrust variations to accelerate breakdown of the aerodynamic wake and improve downstream turbine performance. However, when floating wind turbines are…
This paper presents an integration of nonlinear disturbance observer within proxy-based sliding mode control (IDO-PSMC) approach for Pneumatic Muscle Actuators (PMAs). Due to the nonlinearities, uncertainties, hysteresis, and time-varying…
A new method has been proposed to evaluate the frictional force in the stationary state. This method is applied to the 1-dimensional model of clean surfaces. The kinetic frictional force is seen to depend on velocity in general, but the…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic actuator (SEA). First, the modelling process for the…