相关论文: Development of a Sliding Mode Control Based Adapti…

Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…

In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

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…

At recent times, with the incremental demand of the fully autonomous system, a huge research interest is observed in learning machine based intelligent, self-organizing, and evolving controller. In this work, a new evolving and…

The second-order sub-optimal sliding mode control (SMC), known in the literature for the last two decades, is extended by a control-off mode which allows for saving energy during the finite time convergence. The systems with relative degree…

This paper proposes a new robust control method for quantum systems with uncertainties involving sliding mode control (SMC). Sliding mode control is a widely used approach in classical control theory and industrial applications. We show…

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…

This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

Conventional Sliding mode control and observation techniques are widely used in aerospace applications, including aircrafts, UAVs, launch vehicles, missile interceptors, and hypersonic missiles. This work is dedicated to creating a…

This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…

Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…

In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

In this research we propose a new compound Fractional Order Sliding Mode Controller (FOSMC) and SuperTwisting Controller (FOSMC+STC) to control of a MEMS gyroscope. A new sliding mode surface has been defined to design the proposed new…