Related papers: Output-Constrained Controller with Fuzzy-Tuned Par…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression. In order to estimate both state and…
In this paper, the stability and stabilization problem of positive nonlinear systems, described by the Takagi-Sugeno discrete-time fuzzy model, is studied. The proposed approach is based on the linear co-positive Lyapunov function and…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
In this paper, a robust adaptive type-2 fuzzy higher order sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances.…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety)…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Electrohydraulic servosystems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
This paper proposes an event-triggered parameterized control method using a control Lyapunov function approach for discrete time linear systems with external disturbances. In this control method, each control input to the plant is a linear…
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 thesis presents fuzzy-L1 adaptive controller and Model Reference Adaptive Control (MRAC) with Prescribed Performance Function (PPF) as two adaptive approaches for high nonlinear systems as two original contribution to the literature.…
This paper proposes a novel fuzzy cascaded Proportional-Derivative (PD) controller for under-actuated single-link flexible joint manipulators. The original flexible joint system is considered as two coupled $2^{nd}$-order sub-systems. The…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…