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This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data model is derived by an…
So far, many control algorithms have been developed for singularly perturbed systems. However, in many industrial processes, enforcing closed-loop fast-slow dynamics for peculiarly non-separable ones is a prior request and a crucial issue…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
A framework for performing event-driven, adaptive time step simulations of systems of rigid bodies interacting under stepped or terraced potentials in which the potential energy is only allowed to have discrete values is outlined. The…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
The mathematical modeling of open-switch faults in two-level machine-side converters and the fault-tolerant current control of isotropic permanent-magnet synchronous generators are discussed. The proposed converter model is generic for any…
A new time discretization scheme for the numerical simulation of two-phase flow governed by a thermodynamically consistent diffuse interface model is presented. The scheme is consistent in the sense that it allows for a discrete in time…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
Autonomous micromobility has been attracting the attention of researchers and practitioners in recent years. A key component of many micro-transport vehicles is the DC motor, a complex dynamical system that is continuous and non-linear.…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
This paper considers differential problems with random switching, with specific applications to the motion of cells and centrally coordinated motion. Starting with a differential-equation model of cell motion that was proposed previously,…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
In vehicle dynamics control, many variables of interest cannot be directly measured, as sensors might be costly, fragile, or even not available. Therefore, real-time estimation techniques need to be used. The previous approach suffers from…
Different time-discretization methods for equivalent-control based sliding mode control (ECB-SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the…
Lane changes are complex driving behaviors and frequently involve safety-critical situations. This study aims to develop a lane-change-related evasive behavior model, which can facilitate the development of safety-aware traffic simulations…
This brief addresses the gearshifting problem for Semi-Automated Manual Transmissions (S-AMT) in powered two-wheelers, a powertrain setup that allows fast and smooth gear shifts with minimal modifications to the traditional manual…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…