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In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of…
Ensuring reliable operation of large power systems subjected to multiple outages is a challenging task because of the combinatorial nature of the problem. Traditional approaches for security assessment are often limited by their scope…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
Given a set of samples, a few of them being possibly saturated, we propose an efficient algorithm in order to cancel saturation while reconstructing band-limited signals. Our method satisfies a minimum-loss constraint and relies on…
Reconfigurable Intelligent Surface (RIS) is a promising solution to reconfigure the wireless environment in a controllable way. To compensate for the double-fading attenuation in the RIS-aided link, a large number of passive reflecting…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
High altitude simulation test benches for aero engines employ multi chamber, multi valve intake systems that demand effective decoupling and strong disturbance rejection during transient tests. This paper proposes a coordinated active…
This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…
Active power control regulates the total power generated by wind farms with the power consumed on the electricity grid. Due to wake effects, the available power is reduced and turbulence is increased at downstream wind turbines. Such…
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…
This paper proposes an original solution to input saturation and dead zone of fractional order system. To overcome these nonsmooth nonlinearities, the control input is decomposed into two independent parts by introducing an intermediate…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
The letter proposes a smooth Rate Limiter (RL) model for power system stability analysis and control. The proposed model enables the effects of derivative bounds to be incorporated into system eigenvalue analysis, while replicating the…
In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements.…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
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 describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…