相关论文: Backstepping-based Integral Sliding Mode Control w…

In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…

Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…

Existing trajectory planning methods are struggling to handle the issue of autonomous track swinging during navigation, resulting in significant errors when reaching the destination. In this article, we address autonomous trajectory…

This paper presents a novel Sliding Mode Control (SMC) algorithm to handle mismatched uncertainties in systems via a novel Self-Learning Disturbance Observer (SLDO). A computationally efficient SLDO is developed within a framework of…

Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wave disturbances causing hazardous state perturbations.…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…

Recently, Unmanned Aerial Vehicles (UAVs) are increasingly being investigated to collect sensory data in post-disaster monitoring scenarios, such as tsunamis, where early actions are critical to limit coastal damage. A major challenge is to…

This paper introduces a data-based integral sliding mode control scheme for robustification of model-reference controllers, accommodating generic multivariable linear systems with unknown dynamics and affected by matched disturbances.…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

This paper proposes a robust design of the time-varying internal model principle-based control (TV-IMPC) for tracking sophisticated references generated by linear time-varying (LTV) autonomous systems. The existing TV-IMPC design usually…

Autonomous underwater vehicles (AUV) have a wide variety of applications in the marine domain, including exploration, surveying, and mapping. Their navigation systems rely heavily on fusing data from inertial sensors and a Doppler velocity…

To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…

We describe a novel framework for estimating subsurface properties, such as rock permeability and porosity, from time-lapse observed seismic data by coupling full-waveform inversion, subsurface flow processes, and rock physics models. For…

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 method for developing time step controllers based on a technique from the field of machine learning. This method is applicable to stable time integrators that have an embedded scheme, i.e., that have local error estimation…

We develop a novel multi-layer predictor-feedback to achieve exact compensation of state-dependent input delay of general nonlinear integro-differential equations. The system of interest is an unconventional mixed Partial Differential…

This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…

This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…

We construct a high-order adaptive time stepping scheme for vesicle suspensions with viscosity contrast. The high-order accuracy is achieved using a spectral deferred correction (SDC) method, and adaptivity is achieved by estimating the…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…