This paper presents a robust digital control strategy using error correction techniques to improve the robustness of conventional deadbeat control methods. The proposed control method, based on the discrete converter models, determined control law us...
This paper extends Lyapunov stability theory to mixed fractional order direct model reference adaptive control (FO-DMRAC), where the adaptive control parameter is of fractional order, and the control error model is of integer order. The proposed appr...
The use of manipulators can improve sustainable energy utilization efficiency and increase sustainable manufacturing practices for solar tracking systems and manufactures, and thus it is significant to guarantee a high tracking accuracy for manipulat...
The propagation of electromagnetic waves in a closed domain with a reflecting boundary amounts, in the eikonal approximation, to the propagation of rays in a billiard. If the inner medium is uniform, then the symplectic reflection map provides the po...
This study aims to orchestrate a less restrictive learning controller by using the iteration-varying function, the so-called iterative learning controller (ILC), to synchronize two nonlinear systems with free time delay and couple free. The mathemati...
Background: Pneumatic muscle actuator (PMA) actuated multisection continuum arms are widely applied in various fields with high flexibility and bionic properties. Nonetheless, their kinematic modeling and control strategy proves to be extremely chall...
This paper introduces an advanced observer-based control strategy designed for fractional multi-agent systems operating in hostile environments. We take into account the dynamic nature of the agents with nonlinear delayed dynamics and consider extern...
In this work, a new adaptive controller is designed for substrate control of a fed-batch bioreactor in the presence of input saturation and unknown varying control gain with unknown upper and lower bounds. The output measurement noise and the unknown...
In this work, an improved symmetric integral barrier function-based tracking control is addressed for a robotic manipulator in the presence of position error performance requirements and unknown uncertain terms. First of all, we construct an improved...
The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the path. “Trajectory trackin...
Human–robot cooperative tasks require physical human–robot interaction (pHRI) systems that can adapt to individual human behaviors while ensuring robustness and stability. This paper presents a dual-loop control framework combining an adm...
In this study, a control strategy is presented for multiple quadrotors, inclusive of sliding mode control and proportional derivative (PD) control, with the goal of providing stability, robustness, reduced disturbance, and formation tracking in uncer...
This paper develops a totally new appointed-time integral barrier Lyapunov function-based trajectory tracking algorithm for a hovercraft in the presence of multiple performance constraints and model uncertainties. Firstly, an appointed-time performan...
Lyapunov functions enable analyzing the stability of dynamic systems described by ordinary differential equations without finding the solution of such equations. For nonlinear systems, devising a Lyapunov function is not an easy task to solve in gene...
In this paper, we study input-to-state stability (ISS) of an equilibrium for a scalar conservation law with nonlocal velocity and measurement error arising in a highly re-entrant manufacturing system. By using a suitable Lyapunov function, we prove s...
This paper proposes a novel adaptive finite-time controller for a quadrotor unmanned aerial vehicle (UAV) model with stochastic perturbations and parameter-unknown terms, under the constraints of a state-constrained system. The controller is designed...
In this work, a controller is developed for a continuous bioreactor with an unknown reaction rate term, subject to input saturation. The substrate concentration and the dilution rate are chosen as output and input, respectively. The controller formul...
This paper develops the stability-guaranteed adaptive dynamic programming (ADP)-based fault tolerant control (FTC) for nonlinear systems with an actuator fault. Firstly, a fault observer is designed to identify the unknown actuator fault. Then, a cri...
We propose a neural network consensus strategy to solve the leader–follower problem for multiple-rotorcraft unmanned aircraft systems (UASs), where the goal of this work was to improve the learning based on a set of auxiliary variables and firs...
In this paper, we propose a nonlinear position control using only position feedback to guarantee the tolerances for position tracking errors and yaw. In the proposed method, both mechanical and electrical dynamics are considered. The proposed method...
The issues of state estimations based on distributed observers for linear time-invariant (LTI) systems with multiple sensors are discussed in this paper. We deal with the scenario when the information exchange has known time delays, and aim at design...
In this paper, an adaptive law with an integral action is designed and implemented on a DC motor by employing a rotary encoder and tachometer sensors. The stability is proved by using the Lyapunov function. The tracking errors asymptotically converge...
This paper presents an alternative method to solve the control problem of an uncertain nonlinear system in strict-feedback form with a time delay. Instead of using Lyapunov–Krasovskii functionals, ordinary Lyapunov functionals are used to desig...
In this paper, the dual combination–combination hybrid synchronization (DCCHS) scheme has been investigated in fractional-order chaotic systems with a distinct dimension applying a scaling matrix. The formulations for the active control have be...
This study presents LPV H∞ control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and...
To improve the voltage regulation of asynchronous generators during load switching, a Lyapunov-based control strategy has been proposed to stabilize the generator’s voltage by connecting a static synchronous compensator. By constructing a Lyapu...
In this paper, the problem of an APPTMC for manipulators is investigated. During the robot’s operation, the error states should be kept within an outlined range to ensure a steady-state and dynamic attitude. Firstly, we propose the modified PPF...
This paper proposes a prescribed performance control policy for spacecraft attitude tracking control. The designed controller employs a kind of performance envelope function that can configure the convergence rate arbitrarily. Moreover, the controlle...
Modeling errors, external loads and output constraints will affect the tracking control of the n-joint manipulator driven by the permanent magnet synchronous motor. To solve the above problems, the smooth-switching for backstepping gain control strat...
This paper proposes a high-performance control technique based on Lyapunov’s stability theory for a single-phase grid-connected neutral-point-clamped quasi-impedance source inverter with LCL filter. The Lyapunov function based control is employ...
This paper is divided into two main portions. First, we look at basins of attraction as a tool with a unique set of characteristics for discussing multistability and coexisting attractors in a gyrostat chaotic system. For the validation of coexisting...
This paper presents an adaptive constraint control approach for Electronic Throttle Control System (ETCS) with asymmetric throttle angle constraints. The adaptive constraint control method, which is based on barrier Lyapunov function (BLF), is design...
This paper investigates the problem of the task-space synchronization control for networked Euler-Lagrange systems. In the considered systems, there are time-varying delays existing in the networking links and every subsystem contains uncertainties i...
In this paper, a family of temporal high-order accurate numerical schemes for the Landau–Lifshitz–Gilbert (LLG) equation is proposed. The proposed schemes are developed utilizing the Gauss–Legendre quadrature method, enabling them t...
Task-space cooperative tracking control of the networked multiple Euler–Lagrange systems is studied in this paper. On the basis of establishing kinematic and dynamic modeling of a Euler–Lagrange system, an innovative task-space coordinati...
In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, meas...
An adaptive neural control for uncertain 2DOF helicopter systems with input saturation and time-varying output constraints is provided. A radial basis function neural network is used to estimate the uncertainty terms present in the system. The satura...
In this article, a novel finite-time attitude-tracking control scheme is proposed by using the prescribed performance control (PPC) method for the spacecraft system under the external disturbance and an uncertain inertia matrix. First, a novel polyno...
A novel approach for the synchronization of a class of chaotic systems with uncertainty, unknown time delays, and external disturbances is presented. The control method given here is expressed by combining sliding mode control approaches with adaptiv...
This paper proposes a novel algorithm, termed Mixed Riccati–Lyapunov Balanced Truncation (MRLBT), tailored for order reduction of Linear Time-Invariant Continuous-Time Descriptor Systems (LTI-CTD), commonly encountered in electrical and electro...
An adaptive tracking control strategy with a prescribe tracking error and the convergence time is proposed for hypersonic vehicles with state constraints and actuator failures. The peculiarity is that constructing a new time scale coordinate translat...
This paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodi...
In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all re...
This paper examines the adaptive control of high-order nonlinear systems with strict-feedback form. An adaptive fixed-time control scheme is designed for nonlinear systems with unknown uncertainties. In the design process of a backstepping controller...
This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearitie...
In this paper, synchronization for a class of uncertain fractional-order neural networks subject to external disturbances and disturbed system parameters is studied. Based on the fractional-order extension of the Lyapunov stability criterion, an adap...
State observers for systems having Lipschitz nonlinearities are considered for what concerns the stability of the estimation error by means of a decomposition of the dynamics of the error into the cascade of two systems. First, conditions are establi...
In this paper, a full state-constrained anti-disturbance dynamic surface control method is proposed for six-degree-of-freedom unmanned helicopter systems under full state constraints and disturbances. Firstly, due to the underactuated characteristics...
This paper is concerned with the problem of state estimation of memristor neural networks with model uncertainties. Considering the model uncertainties are composed of time-varying delays, floating parameters and unknown functions, an improved method...
In this study, the observer-based state feedback stabilizer design for a class of chaotic systems in the existence of external perturbations and Lipchitz nonlinearities is presented. This manuscript aims to design a state feedback controller based on...
of 19