相关论文: Mu-synthesis PID Control of Full-Car with Parallel…

In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain…

Compliant mechanisms have significant potential in precision applications due to their ability to guide motion without contact. However, an inherent vulnerability to fatigue and mechanical failure has hindered the translation of compliant…

The comparative study of Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers applied to level and flow control in coupled tank systems is presented in this research work. The coupled tank system, characterized…

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…

This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver)…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

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 propose a new method for controlled system synthesis on non-deterministic automata, which includes the synthesis for deadlock-freeness, as well as invariant and reachability expressions. Our technique restricts the behavior of a…

This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

A variety of control systems have been proposed for aircraft autopilot systems. Traditional approaches such as proportional controller and conventional PID (CPID) controller are widely used. PID controller has a good static performance…

We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despite partial observability, sensor noise,…

This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler's classical mechanics and Lagrange formalism, which allows find the equations of motion that…

Classical proportional--integral--derivative (PID) control is widely employed in industrial applications; however, achieving higher performance often motivates the adoption of model predictive control (MPC). Although gradient-based methods…

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…

Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter…

In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…

PID control has been the dominant control strategy in the process industry due to its simplicity in design and effectiveness in controlling a wide range of processes. However, traditional methods on PID tuning often require extensive domain…

Advanced regulatory control (ARC), also known as advanced PID architectures, is a simple and robust way of controlling processes with changing and possibly conflicting constraints, where it previously was believed - at least in academia -…

Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…