相关论文: Passivity-based sliding mode control for mechanica…

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…

In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…

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…

This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…

The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…

This paper deals with a class of Resistive-Inductive-Capacitive (RLC) circuits and switched RLC (s-RLC) circuits modeled in Brayton Moser framework. For this class of systems, new passivity properties using a Krasovskii's type Lyapunov…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…

Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…

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…

This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a…

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.…

Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding Mode Control (SMC) has emerged as a robust approach for…

This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…

In this article a model predictive control (MPC) based frequency control scheme for energy storage units was derived, focusing on the incorporation of stability constraints based on Lyapunov theory and the concept of passivity. The proposed…

In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…

This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main…

This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel…

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…

This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…