Quadrotors play a crucial role in the national economy. The control technology for quadrotor-slung load transportation systems has become a research hotspot. However, the underactuated load’s swing poses significant challenges to the stability...
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 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...
This paper proposes an output feedback controller with a linear extended state observer (LESO) for an n-degree-of-freedom (n-DOF) manipulator under the presence of external disturbance, an input dead-zone, and time-varying output constraints. First,...
This paper investigates the problem of spacing control between adjacent trains in train formation and proposes a distributed train-formation speed-convergence cooperative-control algorithm based on barrier Lyapunov function. Considering practical lim...
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 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...
This paper investigates prescribed-performance containment control of nonlinear multi-agent systems with multiple leaders under a fixed directed graph. To reconcile follower-specific physical containment envelopes, multi-leader targets determined by...
A new method to describe hyperbolic patterns in two-dimensional flows is proposed. The method is based on the Covariant Lyapunov Vectors (CLVs), which have the properties of being covariant with the dynamics, and thus, being mapped by the tangent lin...
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...
In this article, an event-triggered adaptive fuzzy finite-time dynamic surface control (DSC) is presented for a class of strict-feedback nonlinear fractional-order systems (FOSs) with full-state constraints. The fuzzy logic systems (FLSs) are employe...
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 investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneou...
This paper addresses a novel spherical formation tracking control problem of multiple UAVs with time-varying delays in the directed communication network, where the dynamics of each UAV is non-holonomic and in the presence of spatiotemporal flowfield...
The control performance of quadrotor unmanned aerial vehicles (UAVs) in complex environments can be affected by external disturbances and other factors. In this paper, an adaptive neural network backstepping controller based on the barrier Lyapunov f...
This paper proposes an adaptive barrier function terminal sliding mode control method for partial seizure based on the Pinsky–Rinzel model. A terminal sliding mode control technique is designed to achieve the convergence of trajectories to the...
This paper suggests an adaptive funnel dynamic surface control method with a disturbance observer for the permanent magnet synchronous motor with time delays. An improved prescribed performance function is integrated with a modified funnel variable a...
This paper investigates cooperative tracking control for virtually coupled multi-train systems subject to nonlinear running resistance, bounded time-varying resistance parameters, state constraints, and actuator saturation. The theoretical contributi...
In this paper, considering the simultaneous influence of multi-source disturbances, system modeling uncertainties and input–output constraints, an adaptive robust attitude tracking control scheme is proposed for near space vehicles (NSVs) which...
In this work, an adaptive event-triggered-based consensus control strategy is proposed for the quadrotor unmanned aerial vehicle (QUAV) formation system in the presence of external disturbances and state constraints. Firstly, the disturbed QUAV forma...
The tracking control of servo mechanisms under physical constraints has consistently attracted research attention. This study focuses on developing an adaptive tracking control methodology for servo mechanisms subject to simultaneous state and input...
Floating offshore wind turbines (FOWTs) unlock superior wind resources and reduce operational barriers. The dynamics of FOWT platforms present added engineering challenges and opportunities. While the motion of the floating platform due to wind and w...
Previous studies typically assume that output constraints are symmetric or time-invariant. However, effectively addressing asymmetric and time-varying output constraints remains an unsolved issue, especially in the case of switched non-square multi-i...
In this study, an adaptive nonsingular finite time control technique based on a barrier function terminal sliding mode controller is proposed for the robust stability of nth-order nonlinear dynamic systems with external disturbances. The barrier func...
Motivated for improving the efficiency and reliability of wind turbine energy conversion, this paper presents an advanced control design that enhances the power regulation efficiency and reliability. The constrained behavior of the wind turbine is ta...
This paper investigates the automatic berthing problem of underactuated surface vessels in the case of uncertain dynamics and yaw rate limitation, given the importance of yaw rate control and the unmeasurable hydrodynamic parameters of the vessel at...
This paper proposes a linear matrix inequality (LMI)-based adaptive barrier global sliding mode control (ABGSMC) for uncertain systems with faulty actuators. The proposed approach is derived using a novel global nonlinear sliding surface to guarantee...
The global control problem of high-order nonlinear systems with unknown odd rational powers and nonlinearities has been solved in this paper for the first time. Barrier functions were introduced into the controller to set the controller free from rat...
This study focuses on designing a controller for trajectory tracking of quadcopters using advanced sliding-mode techniques. Specifically, an integral terminal sliding-mode control based on an adaptive barrier function with a super-twisting reaching l...
This paper investigates the problem of formation fault-tolerant control of multiple quadrotors (QRs) for a mobile sensing oriented application. The QRs subject to faults, input saturation and time-varying delays can be controlled to perform a target-...
In this paper, the collision-avoidance formation control problem for underactuated surface vessels (USVs) subject to input constraints is investigated. The input constraints include both input amplitude saturation and input rate saturation. A control...
Based on an adaptive neural control scheme, this paper investigates the consensus problem of random Markov jump multi-agent systems with full state constraints. Each agent is described by the fractional-order random nonlinear uncertain system driven...
This paper investigates the finite-time-trajectory tracking control of a robotic manipulator subject to time-varying output constraints and unknown lumped disturbances consisting of model uncertainties and external forces. A novel finite-time integra...
This paper investigates the fault-tolerant control problem for vehicular platoons with time-varying actuator fault directions and distance constraints. A bias constraint function is introduced to convert the asymmetric constraints into symmetric ones...
This study focuses on the distributed fixed-time fault-tolerant control problem for a network of six-degree-of-freedom (DOF) fixed-wing unmanned aerial vehicles (UAVs), which are subject to full-state constraints and actuator faults. The novelty of t...
In this study, an adaptive nonsingular terminal sliding mode control technique according to the barrier function is designed for the performance improvement and robust stability of nonlinear systems with outdoor disturbances. For this reason, a novel...
In this paper, we propose an output feedback flight tracking control scheme for helicopter attitude and altitude systems with unmeasured states under full state constraints. Firstly, a state observer is constructed based on the measured output signal...
This paper addresses the tracking control problem for pure-feedback stochastic nonlinear systems subject to full state constraints, actuator faults, and backlash-like hysteresis. An adaptive finite-time control strategy is proposed, using radial basi...
In this paper, we propose a robust tracking control scheme for trajectory tracking of overactuated marine surface vessels subject to environmental disturbances and asymmetric time-varying full-state constraints. The proposed robust control scheme is...
This paper is concerned with the trajectory tracking control of unmanned surface vehicles (USVs) subject to input quantization, actuator faults and dead zones. In scenarios with dense marine facilities, there are constraints on the tracking performan...
This paper investigates adaptive output feedback control problem for switched uncertain nonlinear systems with input quantization, unmeasured system states and state constraints. Firstly, fuzzy logic systems are introduced to identify system uncertai...
This paper presents a novel adaptive fault-tolerant neural-based control design for wind turbines with an unknown dynamic and unknown wind speed. By utilizing the barrier Lyapunov function in the analysis of the Lyapunov direct method, the constraine...
This paper focuses on the finite-time tracking control problem of shield tunneling systems in the presence of constraints on the states and control input. By modeling the system based on the LuGre friction model, an effective method of tracking contr...
Based on a fixed-time extended state observer (FESO), this paper proposes a novel predefined performance control (PPC) method for robotic manipulators with false data injection (FDI) attacks and actuator faults. First, a mathematical model of robotic...
In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction o...
A class of fault-tolerant safety-critical controller design methods based on high-order control barrier function (HOCBF) is proposed to address the problem of safety and stability of system affected by actuator faults in safety-constrained nonlinear...
The current study presents an adaptive control approach to solve the tracking trajectory problem for a robotic manipulator that uses a gripper based on bimorph piezoelectric actuators. The development of an adaptive gain state feedback form that cons...
In this paper, a composite finite-time prescribed performance tracking control scheme is presented for an unmanned helicopter (UH) system subject to performance constraints, model uncertainties and external perturbations. A new finite-time neural net...
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...
To address the limitations of existing sliding mode-based integrated guidance and control (IGC) schemes, such as chattering, input saturation, and insufficient robustness, this paper proposes a three-dimensional IGC design method incorporating both t...
of 3