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The main purpose of this paper is to study the fractional-order model with Caputo derivative associated to Lagrange system. For this fractional-order system we investigate the existence and uniqueness of solutions of initial value problem,…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
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…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…
We present here the details of a backstepping transformation aiming at reformulating the dynamics of a nonlinear systems subject to unknown long input delay in a form which is suitable for Lyapunov stability analysis. The control law…
Mechanical non-contact carrier systems based on magnetic levitation (MAGLEV) are used in special transportation areas (clean rooms, chemical areas, etc.). Among these types of carriers, 4-pole hybrid electromagnetic systems (containing…
Recently, a novel magnetic levitation phenomenon involving two magnetically equivalent neodymium permanent magnets has been reported. In this work, we propose that this system functions as a scaled-up analog of the Levitron. The key…
Efficiency, speed, and precision are essential in modern manufacturing. AI Maglev Conveyor system, combining magnetic levitation (maglev) technology with artificial intelligence (AI), revolutionizes automated production processes. This…
Backstepping is a mature and powerful Lyapunov-based design approach for a specific set of systems. Throughout the development over three decades, innovative theories and practices have extended backstepping to stabilization and tracking…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…