Related papers: Observer-Free Sliding Mode Control via Structured …
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
We introduce and analyze a penalty-free formulation of the Shifted Boundary Method (SBM), inspired by the asymmetric version of the Nitsche method. We prove its stability and convergence for arbitrary order finite element interpolation…
This paper generalises an early lumped observer-based state-feedback (OBSF) control design methodology, originally developed for one-dimensional (1-D) boundary-controlled port-Hamiltonian systems, to a two-dimensional (2-D)…
This paper presents a complementary approach to establish stability of finite receding horizon control with a terminal cost. First a new augmented stage cost is defined by rotating the terminal cost. Then a one-step optimisation problem is…
Accurate state of charge (SOC) estimation is critical for ensuring the safety, reliability, and efficiency of lithium-ion batteries in electric vehicles and energy storage systems. Electrochemical models provide high fidelity for SOC…
In this paper, a novel model-free wide-area damping control (WADC) method is proposed, which can achieve full decoupling of modes and damp multiple critical inter-area oscillations simultaneously using grid-connected voltage source…
We present a novel nonlinear model predictive control (MPC) scheme with relaxed stability criteria, based on the idea of generalized discrete-time control Lyapunov functions. These functions need to satisfy an average descent over a finite…
This paper studies switching stabilization problems for general switched nonlinear systems. A piecewise smooth control-Lyapunov function (PSCLF) approach is proposed and a constructive way to design a stabilizing switching law is developed.…
In this paper, An Improved Adaptive Sliding Mode Observer (ASMO) is proposed to a Sensorless DSFOC Induction Motor Drives and their stability is analyzed. ASMO is used to estimate the Rotor Speed, Rotor Resistance, Flux, Stator and Rotor…
Most approaches for self-triggered control (STC) of nonlinear networked control systems (NCS) require measurements of the full system state to determine transmission times. However, for most control systems only a lower dimensional output…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
Motivated by the concept of Quasi-Sliding Mode (QSM) in discrete-time systems, this paper presents a novel approach that relaxes the requirement of ubiquitous exact sliding motion in continuous-time systems, aiming to achieve an…
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter…
This work develops a stochastic model predictive controller~(SMPC) for uncertain linear systems with additive Gaussian noise subject to state and control constraints. The proposed approach is based on the recently developed finite-horizon…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
We study the problem of global exponential stabilization of a force- and torque-controlled unicycle model in discrete time. To this end, we extend a recently introduced approach to model predictive control (MPC) in which a flexible number…