Related papers: The Bode Plots for Sliding-Mode Control Design
In this paper, we apply a recently developed nonparametric modeling approach, the "diffusion forecast", to predict the time-evolution of Fourier modes of turbulent dynamical systems. While the diffusion forecasting method assumes the…
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…
This paper presents a framework grounded in the theory of describing function (DF) and incremental-input DF to theoretically analyze the nonlinear oscillatory response of automated vehicles (AVs) car-following (CF) amidst traffic…
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
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…
This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
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…
We analyze actuator chattering in a scalar integrator system subject to second-order actuator dynamics with an unknown time constant and first-order sliding-mode control, using both a conventional static sliding manifold and a dynamic…
This study investigates the existence and stability of limit cycles resulting from self-excited oscillations in linear multi-degree-of-freedom systems subjected to discontinuous, state-dependent forcing. Using the method of averaging and…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Switches in real systems take many forms, such as impacts, electronic relays, mitosis, and the implementation of decisions or control strategies. To understand what is lost, and what can be retained, when we model a switch as an…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
In the context of studying periodic processes, this paper investigates first under which conditions switching affine systems in the plane generate stable limit cycles. Based on these conditions, a design methodology is proposed by which the…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
A common assumption in both grid-following (GFL) and grid-forming (GFM) control systems is that they are open-loop (OL) stable in the vicinity of high-frequency resonances. Hence classical loop-shaping approaches are often used for…