相关论文: Design of Sliding Mode PID Controller with Improve…
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…
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.…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for perturbed second-order systems. The approach is model-free and requires solely the Lipschitz boundedness of the…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Continuous higher order sliding mode (CHOSM) controllers represent an efficient tool for disturbance rejection. For the systems with relative degree r, CHOSM approaches provide theoretically exact compensation of the matched Lipschitz…
Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…
This paper study the parameter selection of predefined-time sliding mode and try to design a general nonsingular predefined-time terminal sliding mode. 1). On parameter selection: Some existing predefined-time sliding modes are designed to…
In this paper we deal with a feedback control design for the action potential of a neuronal membrane in relation with the non-linear dynamics of the Hodgkin-Huxley mathematical model. More exactly, by using an external current as a control…
Precision motion systems are at the core of various manufacturing equipment. The rapidly increasing demand for higher productivity necessitates higher control bandwidth in the motion systems to effectively reject disturbances while…
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…
This work develops a stochastic model predictive controller~(SMPC) for uncertain linear systems with additive Gaussian noise subject to state and control constraints. The proposed approach is based on the recently developed finite-horizon…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
Analog-to-digital conversion (ADC) and uncertainties in modeling the plant dynamics are the main sources of imprecisions in the design cycle of model-based controllers. These implementation and model uncertainties should be addressed in the…
Model Predictive Control (MPC) is widely recognized for its ability to explicitly handle system constraints. In practice, system states are often affected by disturbances with unknown distributions. While robust MPC guarantees constraint…
This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient…
We present a sampling-based control approach that can generate smooth actions for general nonlinear systems without external smoothing algorithms. Model Predictive Path Integral (MPPI) control has been utilized in numerous robotic…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
In this paper, the problem of output feedback sliding mode control of linear sampled-data multi-input multi-output systems is considered. Existing sliding mode control schemes can attenuate the influence of an external disturbance by…