Related papers: Robust Control Design Using a Hybrid-Gain Finite-T…
This paper proposes a novel sliding mode control (SMC) method for a class of affine dynamic systems. In this type of systems, the high-frequency gain matrix (HFGM), which is the matrix multiplying the control vector in the dynamic equation…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…
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…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
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 deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
In this paper, we present a new discrete-time Fast Terminal Sliding Mode (FTSM) controller for mirror-based pointing systems. We first derive the decoupled model of those systems and then estimate the parameters using a nonlinear…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
Chattering phenomena is the major problem affecting sliding mode control (SMC). Also, finding a suitable structure and appropriate parameters values of fuzzy logic system (FLS) is a complex and difficult task. In addition, the stability of…
This paper develops a sliding mode control based frame work for equality constrained optimization by reformulation the first order Karush Kuhn Tucker conditions as control affine dynamical system. The optimization variables are treated as…
This paper aims to introduce a design methodology to stabilize a chain of integrators in a fixed-time with predefined Upper Bound for the Settling-Time (UBST). This approach is based on time-varying gains (time-base generator) that become…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
We present a load frequency control strategy deploying a decentralized robust global integral terminal sliding mode control (GITSMC) method to maintain stable frequency and tie-line power in multi-area interconnected microgrids with…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…
In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…