Related papers: Sliding-Mode Control Strategies for PMSM: Benchmar…
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…
In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for…
In this article, a quasi-sliding mode control (QSMC) based on MPC is proposed for the constrained continuous-time nonlinear system with external disturbances. The MPC problem is formulated relating to the design of QSMC, to generate the…
This paper presents a new predictive second order sliding controller (PSSC) formulation for setpoint tracking of constrained linear systems. The PSSC scheme is developed by combining the concepts of model predictive control (MPC) and second…
A significant challenge in the development of control systems for diesel airpath applications is to tune the controller parameters to achieve satisfactory output performance, especially whilst adhering to input and safety constraints in the…
The Grid-Forming Inverter (GFMI) is an emerging topic that is attracting significant attention from both academic and industrial communities, particularly in the area of control design. The Decoupled Average Model-based Sliding Mode Current…
This paper proposes a new class of permanent magnet-assisted three-phase switched reluctance motors (PM-SRMs) designed to achieve significantly higher torque density for electric vehicle (EV) propulsion systems. Eight distinct motor…
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…
Current developments of high-speed magnetic levitation technology using the principle of the electromagnet suspension (EMS) focus on reaching vehicle speeds of more than 600 km/h. With increasing vehicle speeds, however, updated control…
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,…
Most of the real-time implementations of the stabilizing optimal control actions suffer from the necessity to provide high computational effort. This paper presents a cutting-edge approach for real-time evaluation of linear-quadratic model…
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…
Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched…
The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…
Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
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…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
Ultrasonic motors (USMs) are commonly used in aerospace, robotics, and medical devices, where fast and precise motion is needed. Remarkably, sliding mode controller (SMC) is an effective controller to achieve precision motion control of the…
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…