This paper investigates robust constrained cooperative control for multiple trains, taking into account disturbances, velocity and control input constraints, and nonlinear operation resistances. A robust constrained cooperative control algorithm is e...
Attitude control subjected to pointing constraints is a requirement for most spacecraft missions carrying sensitive on-board equipment. Pointing constraints can be divided into two categories: exclusion zones that are defined for sensitive equipment...
Independent metering systems (IMSs) have been applied and researched in mobile machinery due to their advantages of reduced throttling energy losses and remarkable advances under negative load through decoupling actuator throttling control. Although...
This paper presents an adaptive constrained attitude control for uncertain spacecraft. Inspired by the concept of nonsingular terminal sliding mode control and funnel control for nonlinear systems, a novel adaptive attitude control is introduced whic...
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...
Modern robotic tasks often require interaction with the surrounding elements in the workspace. In some high-precision tasks, it is essential to stabilize the contact force on a smooth yet rigid surface, which can be modeled as a unilateral constraint...
In real life, almost all systems are nonlinear in nature. The electromagnetic levitation system (EMLS) is one such system that has a wide range of applications due to its frictionless, fast, and affordable technique. Optimal control and sliding mode...
This paper proposes a novel robust model predictive control (RMPC) scheme for constrained linear discrete-time systems with bounded disturbance. Firstly, the adjustable error tube set, which is affected by local error and error variety rate, is intro...
In direct methods for constrained optimal control, accuracy depends on two things at once: the approximation space and the search applied to it. In this paper, we investigate that dependence by separating the two. A hybrid polynomial–Fourier tr...
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...
Heat recovery steam generator (HRSG) water–steam chemical dosing involves transport delays, multivariable coupling, measurable disturbances, measurement uncertainty, and operating constraints. This study develops an engineering-inspired constra...
The interline power flow controller (IPFC) is one of the most versatile integrated flexible alternating current transmission systems (FACTS) controllers and can realize power flow control for multiple transmission lines in modern power systems. Howev...
This paper proposes a decentralized robust constrained cost fuzzy controller (DRCCFC) design for nonlinear descriptor interconnected systems (DIS) with uncertainties. The considered nonlinear DIS is modeled using Takagi–Sugeno fuzzy model (T-S...
The successful application of the unified power flow controller (UPFC) provides a new control method for the secure and economic operation of power system. In order to make the full use of UPFC and improve the economic efficiency and static security...
Upcoming smart scenarios enabled by the Internet of Things (IoT) envision smart objects that provide services that can adapt to user behavior or be managed to achieve greater productivity. In such environments, smart things are inexpensive and, there...
High parking accuracy, comfort and stability, and fast response speed are important indicators to measure the control performance of a fully automatic operation system. In this paper, aiming at the problem of low accuracy of the fully automatic opera...
In order to solve the trajectory-tracking-control problem of the state-constrained flexible manipulator systems, a finite-time back-stepping control method based on command filtering is presented in this paper. Considering that the virtual signal req...
Hydraulic manipulators face critical challenges due to valve dead-band nonlinearity and state constraints, which can lead to safety hazards and hardware damage. This study proposes a state-constrained controller with valve dead-band compensation to e...
The rapid adoption of electric vehicles, together with increased battery mass and altered load distribution, is placing greater demands on ride comfort and suspension adaptability, while controller optimization may still request forces beyond the ins...
This study investigates the tracking control of quadrotor micro aerial vehicles using nonlinear model predictive control (NMPC), with primary emphasis on the implementation of a real-time embedded control system. Apart from the limited memory size, o...
A new active fault tolerant control scheme based on active fault diagnosis is proposed to address the component/actuator faults for systems with state and input constraints. Firstly, the active fault diagnosis is composed of diagnostic observers, con...
Payload eccentricity and time-varying rope length can cause excessive inter-rope tension imbalance in a double-rope mine hoist. This study develops a safety-constrained semi-active differential-tension control method using dual magnetorheological dam...
An enhanced lightness and thinness is the inevitable trend of modern industrial production, which will also lead to prominent low-frequency vibration problems in the associated structure. To solve the vibration problem of thin plate structures in var...
In this paper, a chance-constrained (CC) framework is developed to manage the voltage control problem of medium-voltage (MV) distribution systems subject to model uncertainty. Such epistemic uncertainties are inherent in distribution system analyses...
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...
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 study presents an experimental framework for hybrid grey-box–ARX identification and constrained model predictive control (MPC) in a 250 L jacketed batch milk pasteurizer. The plant was represented as a closed, stirred, energy-accumulating...
Skid-steer mobile robots might operate under actuator saturation or limited yaw authority that can make otherwise feasible motion commands dynamically infeasible. This paper presents a motion control framework that combines a curvature-constrained Fr...
This study investigates the problem of overlarge current protection for a DC–DC synchronous buck converter with the existence of uncertainties and disturbances. Aiming to deal with the hardware damage in the electric circuit of a DC–DC bu...
Stable control of the main combustion chamber temperature is critical for pollutant emission compliance, energy recovery, and equipment longevity in municipal solid waste incineration (MSWI). However, the response delays from manipulated variables su...
Wave Energy Converters (WECs) are designed to be deployed in arrays, usually in a limited space, to minimize the cost of installation, mooring, and maintenance. Control methods that attempt to maximize the harvested power often lead to power flow fro...
Lightweight flapping-wing robots are affected by structural flexibility, wind disturbances, and static friction in basal passive joints during perching and attitude-holding tasks. These coupled effects can make conventional PID and sliding mode contr...
Optimization problems with PDE constraints are widely used in engineering and technical fields. In some practical applications, it is necessary to smooth the control variables and suppress their large fluctuations, especially at the boundary. Therefo...
Genetic algorithms provide a flexible strategy for tuning control parameters in engineering systems where nonlinear dynamics, variable loads, and physical constraints make fixed-gain controllers difficult to adjust systematically. This work formulate...
Flexible-joint robots (FJRs) offer safety and energy efficiency in collaborative tasks, yet achieving high-precision tracking remains challenging under strict state and safety constraints due to elastic coupling, model mismatch, and external disturba...
To address the issue of missing constraints on control variables in the trajectory optimization problem of the differential dynamic programming (DDP) method, the adaptive projection differential dynamic programming (AP-DDP) method is proposed. The co...
This paper presents a control architecture based on Pixhawk4 to address the transition mode control issue of a tilt-rotor tricopter. While the classical PID controller designed for the rotor mode can handle most engineering applications under normal...
This paper addresses adaptive fuzzy tracking control for fractional-order nonlinear systems (FONSs) subject to asymmetric state constraints without imposing separate feasibility conditions on intermediate virtual controllers. Fuzzy logic systems are...
In the context of high renewable energy penetration and increasing supply–demand imbalances, power grid companies face complex challenges in load control due to multiple constraints. Based on the actual operational context of power grid compani...
In this paper, we analyze an optimal control problem with a mixed cost function, which combines a terminal cost at the final state and an integral term involving the state and control variables. The problem includes both state and control constraints...
In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effecto...
The new modular approach to constrained control of higher-order processes with dominant first-order dynamics using generalized controllers with automatic resets (ARCs) is addressed. The controller design is based on the multiple real dominant pole (M...
In the modern helicopter design and development process, constrained full-state control technology for turbo-shaft engine/rotor systems has always been a research hotspot in academia and industry. However, relevant references have pointed out that th...
A class of controlled objects is considered, the dynamics of which are determined by a vector system of ordinary differential equations with a partially known right-hand side. It is presumed that the state variables and their velocities can be measur...
In this paper, we propose an analytic solution of state-constrained optimal tracking control problems for continuous-time linear time-invariant (CT-LTI) systems that are based on model-based prediction, the quadratic penalty function, and the variati...
In this paper, a design of an optimal discrete PI controller for a DC-DC boost converter that fed a PMDC motor drive system is presented. The small signal model (SSM) is extracted and validated theoretically and experimentally. The system transfer fu...
Cascaded control structures are prevalent in industrial systems with many disturbances to obtain stable control but are cumbersome and challenging to tune. In this work, we propose cascaded constrained residual reinforcement learning (RL), an intuiti...
In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility o...
This paper studies constrained model reference adaptive control (MRAC) for a planar unmanned ground vehicle (UGV) subject to actuator limits and safety requirements. First, we establish a double-integrator model by applying dynamic feedback lineariza...
This paper investigates a general control strategy to track the reference trajectory for the constrained Euler–Lagrange system with model uncertainties and unknown external disturbances. Unlike the disturbances assumed to be upper-bounded by a...
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