相关论文: Adaptive Non-singular Terminal Sliding Mode Fault-…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…
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…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading method for reducing high-dimensional nonlinear dynamical…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
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, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…