相关论文: Nonlinear disturbance attenuation control of hydra…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that…

This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. Two types of controllers are designed and implemented:…

We propose a command-filter backstepping controller that integrates a disturbance observer and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. To build the controller, we first define…

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…

Water treatment and liquid storage are the two plants implementing the hydraulic three-tank system. Maintaining certain levels is the critical scenario so that the systems run as desired. To deal with, the optimal linear control and the…

This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…

End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…

Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…

Control of complex turbulent dynamical systems involving strong nonlinearity and high degrees of internal instability is an important topic in practice. Different from traditional methods for controlling individual trajectories, controlling…

A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

The introduction of unexpected system disturbances and new system dynamics does not allow guaranteed continuous system stability. In this research we present a novel approach for detecting early failure indicators of non-linear highly…

Considering a common case where measurements are obtained from independent sensors, we present a novel outlier-robust filter for nonlinear dynamical systems in this work. The proposed method is devised by modifying the measurement model and…

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…

We consider adaptive control problem in presence of nonlinear parametrization of uncertainties in the model. It is shown that despite traditional approaches require for domination in the control loop during adaptation, it is not often…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…