相关论文: Fixed-time control with prescribed performance for…

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…

Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…

With the development of the space missions, there are extensive missions in the demand of the prescribed time convergence. However, it is still a difficult work to combine the prescribed time method with the sliding mode control due to the…

In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…

When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…

Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…

This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…

This paper develops a robust fixed time optimization framework for constrained problems that guarantees exact constraint satisfaction and convergence to KKT points within fixed time , independent of initial conditions. The approach treats…

This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…

This paper presents a new prescribed performance control scheme for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances under mechanical constraints. First, a novel prescribed performance…

In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…