相关论文: Stabilizing sliding mode control design and applic…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
When electric vehicles (EVs) are integrated into standalone DC microgrids (DCMGs), stability issues arise due to their constant power load (CPL) behavior, which provides negative incremental impedance (NII). In addition, the microgrids…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…
In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…
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…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
A unified model of voltage mode control (VMC) and current mode control (CMC) is proposed to predict the saddle-node bifurcation (SNB). Exact SNB boundary conditions are derived, and can be further simplified in various forms for design…
Urban traffic congestion is a chronic problem faced by many cities in the US and worldwide. It results in inefficient infrastructure use as well as increased vehicle fuel consumption and emission levels. Congestion is intertwined with…
To address non-linear disturbances and uncertainties in complex marine environments, this paper proposes a disturbance-resistant controller for deep-sea cranes. The controller integrates hierarchical sliding mode control, adaptive control,…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
This paper develops a unified frequency-domain framework for the analysis of sliding-mode control systems, encompassing both discontinuous and Lipschitz-continuous implementations. Using describing function (DF) theory, closed-form…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
This paper present new approach in robust indirect rotor field oriented (IRFOC) induction motor (IM) control. The introduction of new exponential reaching law (ERL) based sliding mode control (SMC) improve significantly the performances…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during…