Related papers: Adaptive Thrust Regulation in Solid-fuel Ramjet wi…
In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
Current model-free adaptive control (MFAC) method has no been analysed in linear system and is not straightforward for the practical engineers to understand accurately. This correspondence presents a family of MFAC based on a modified…
Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like…
In this paper, we consider a platform of flying mobile edge computing (F-MEC), where unmanned aerial vehicles (UAVs) serve as equipment providing computation resource, and they enable task offloading from user equipment (UE). We aim to…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
As wind power penetration increases, the wind farms are required by newly released grid codes to provide frequency regulation service. The most critical challenge is how to formulate the dynamic model of wind farm for dynamic control, since…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…
Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown…
Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present paper combines retrospective cost adaptive control (RCAC), a…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
When an aircraft is flying and burning fuel the center of gravity (c.g.) of the aircraft shifts slowly. The c.g. can also be shifted abruptly when e.g. a fighter aircraft releases a weapon. The shift in c.g. is difficult to measure or…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
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 study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…