Related papers: Dynamic Input Mapping Inversion to Eliminate Algeb…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton Jacobi Bellman (HJB) equation. However, these methods…
This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box,…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
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 proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
Most of nonlinear robust control methods just consider the affine nonlinear nominal model. When the nominal model is assumed to be affine nonlinear, available information about existing non-affine nonlinearities is ignored. For non-affine…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonlinear Dynamic Inversion (INDI), known for their ability in…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…
This paper presents a novel control structure and control synthesis method for regulating the output voltage/frequency and power injection of DC-AC inverters. The traditional droop method offers attractive solution to achieve compromise…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
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…