相关论文: Linear Parameter Varying Attitude Control For Cube…
In this paper, we present the controllability properties of Keplerian motion controlled by low-thrust control systems. The low-thrust control system, compared with high or even impulsive control system, provide a fuel-efficient means to…
In recent years, the Linear Parameter-Varying (LPV) framework has become increasingly useful for analysis and control of time-varying systems. Generally, LPV control synthesis is performed in the continuous-time (CT) domain due to…
This paper proposes a new Linear Fractional Transformation (LFT) modeling approach for uncertain Linear Parameter Varying (LPV) multibody systems with parameter-dependent equilibrium. Traditional multibody approaches, which consist in…
The control of nonlinear large-scale dynamical models such as the incompressible Navier-Stokes equations is a challenging task. The computational challenges in the controller design come from both the possibly large state space and the…
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…
This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…
The increasing demands for motion control result in a situation where Linear Parameter-Varying (LPV) dynamics have to be taken into account. Inverse-model feedforward control for LPV motion systems is challenging, since the inverse of an…
This paper addresses the sparse actuation problem for nonlinear systems represented in the Linear Parameter-Varying (LPV) form. We propose a convex optimization framework that concurrently determines actuator magnitude limits and the…
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…
Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
The problem of estimating parameters of linear control valve with hysteresis is considered. The hysteretic behavior of control valve is formulated as a switched linear model. An indicator vector, which shows the switching epochs of switched…
In this paper, an automated Linear Parameter-Varying (LPV) model conversion approach is proposed for nonlinear dynamical systems. The proposed method achieves global embedding of the original nonlinear behavior of the system by leveraging…
Here we use polynomial chaos framework to design controllers for linear parameter varying (LPV) dynamical systems. We assume the scheduling variable to be random and use polynomial chaos approach to synthesize the controller for the…
Nonlinear dynamical behaviours in engineering applications can be approximated by linear-parameter varying (LPV) representations, but obtaining precise model knowledge to develop a control algorithm is difficult in practice. In this paper,…