相关论文: Proper Implicit Discretization of the Super-Twisti…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the…
A control based power tower function at order 2 is proposed in this paper. This leads to a new sliding mode control, which allows employing backstepping technique that combines both guaranteed and finite time convergence. The proposed…
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…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of a discrete abstraction for a continuous-time system require time-space discretization of…
Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of discrete abstractions are based on sampling of both the state and time spaces, which may…
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…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
This paper develops a sliding mode control based frame work for equality constrained optimization by reformulation the first order Karush Kuhn Tucker conditions as control affine dynamical system. The optimization variables are treated as…
The stabilization of nonlinear systems under zero-state-detectability assumption or its analogues is considered. The proposed supervisory control provides a finite time practical stabilization of output and it is based on uniting local and…
We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well…
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
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…
In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…