Related papers: Sliding Mode Control for 3-D Uncalibrated and Cons…
The research on sliding mode control strategy is generally based on the robust approach. The larger parameter space consideration will inevitably sacrifice part of the performance. Recently, the data-driven sliding mode control method…
This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
We establish the dual notions of scaling and saturation from geometric control theory in an infinite-dimensional setting. This generalization is applied to the low-mode control problem in a number of concrete nonlinear partial differential…
For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {\color{black}time…
This paper addresses the safe stabilization problem of stochastic nonlinear time-delay systems. Based on theKrasovskii approach, we first propose a stochastic control Lyapunov-Krasovskii functional to guarantee the stabilization objective…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…