This paper is a first attempt to marry constructive nonlinear control theory techniques with active inference. Specifically, we are interested in the relationship between differential flatness and the design of generative models for use in control se...
SLAM (Simultaneous Localization And Mapping) in unmanned aerial vehicles can be an advantageous proposition during dangerous missions where aggressive maneuvers are paramount. This paper proposes to achieve it for a quadcopter using a differential fl...
Controlling an automotive suspension system using an actuator is a complex nonlinear problem that requires both fast and precise solutions in order to achieve optimal performance. In this work, the nonlinear model of a quarter-car active suspension i...
This paper introduces a new speed control framework design for direct current electric motors coupled with a gearhead. The proposed framework suitably integrates differential flatness, model predictive control, and Kalman filter theory for efficient...
This article investigates the trajectory tracking control of a differential-drive two-wheeled mobile robot (DDWMR) using its kinematic model, framed in the context of sustainability. A nonlinear-to-linear transformation based on differential flatness...
To achieve precise control of the symmetrical unmanned surface vehicle (USV) under strong external disturbances, we propose a disturbance estimation and conditional disturbance compensation control (CDCC) scheme. First, the differential flatness meth...
Autonomous helicopter shipboard landing requires the generation of dynamically feasible trajectories that can accurately match the time-varying motion of a moving deck while maintaining desirable near-deck geometric and kinematic characteristics. Thi...
This article proposes a new control law for an embedded DC distributed network supplied by a supercapacitor module (as a supplementary source) and a battery module (as the main generator) for transportation applications. A novel control algorithm bas...
In this paper, we study an advanced pouring control system using a tilting-ladle-type automatic pouring machine. In such a machine, it is difficult to precisely pour the molten metal into the pouring basin of the mold, as the outflow from the ladle c...
This paper presents the utilization of differential flatness techniques from nonlinear control theory to permanent magnet assisted (PMa) synchronous reluctance motor (SynRM). The significant advantage of the proposed control approach is the potential...
This article is focused on an original control approach applied to a transportation system that includes a polymer electrolyte membrane fuel cell (PEMFC) as the main energy source and supercapacitors (SC) as the energy storage backup. To interface th...
This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is tra...
The formulation of a maximum power point tracking (MPPT) control strategy plays a vital role in enhancing the inherent low conversion efficiency of a photovoltaic (PV) module. Keeping in view the nonlinear electrical characteristics of the PV module...
Proton exchange membrane fuel cell (PEMFC) systems typically generate low-voltage and high-current DC power, requiring a step-up converter interface for electric vehicle (EV) and DC microgrid applications. In addition, excessive current ripple and ra...
A system is differentially flat if it is Lie–Bäcklund (L-B) equivalent to a free dynamical system that has dimensions equal to that of the input of the original system. Utilizing this equivalence, the problem of nonlinear model predictive control of...
Disturbances in dynamical systems pose a major challenge for parameter identification, particularly in the presence of unknown initial conditions and uncertain external influences. To address this issue, this paper proposes an algebraic parameter est...
This paper deals with 3D visual servoing applied to mobile robots in the presence of measurement disturbances, caused in particular by target occlusion. We propose a new approach based on the flatness concept. In 3D visual servoing, the task is perfo...
This paper focuses on a class of 5-degrees-of-freedom (5-DOF) aerial platforms, particularly the Passively Articulated Dual UAVs (PADUAVs). These platforms have the potential to achieve omnidirectional motion, as their joints are free from position c...
In this paper, we propose 2D dynamic visual servoing (Dynamic IBVS), where a quadrotor UAV tries to track a moving target using a single facing-down perspective camera. As an application, we propose the tracking of a car-type vehicle. In this case, d...
Safety is a fundamental issue in autonomous mobile robot design. This paper presents a safety-critical control framework for nonholonomic tractor-trailer vehicles subject to both safety and physical constraints. Control barrier functions (CBFs) are e...
We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a...
By developing a robust control strategy based on the differential flatness concept, this paper presents a solution for the bidirectional trajectory tracking task in the “full-bridge Buck inverter–DC motor” system. The robustness of...
A trajectory-based guidance strategy is proposed for the three-dimensional terminal return task of an uncrewed space vehicle (USV). The overall guidance scheme consists of reference trajectory planning and robust trajectory tracking modules. The traj...
Solar energy harvesting using Photovoltaic (PV) systems is one of the most popular sources of renewable energy, however the main drawback of PV systems is their low conversion efficiency. An optimal system operation requires an efficient tracking of...
A control method that combines trajectory planning and backstepping is proposed for the antisway problem of underactuated overhead cranes under wind disturbance. First, a set of flat outputs is proposed so that the crane system dynamics can be repres...
This paper investigates the motion planning problem for symmetric UAV cooperative lifting in confined spaces. A dynamic model of the symmetric UAV cooperative lifting system is established, and differential flatness analysis is employed to transform...
In this paper, an efficient output reference trajectory tracking control scheme for direct current electric motor systems based on bio-inspired optimization is proposed. The differential flatness structural property of the electric motor along with d...
This paper presents an analysis and simulation of the mathematical model associated to the DC/DC Boost converter–full-bridge Buck inverter system to regulate the voltage output of the DC/DC Boost converter allowing bipolar voltages higher than...
In recent years, dynamic process models have grown even more important in the context of Industry 4.0 and the use of digital twins. However, the accuracy of the corresponding model parameter estimates is determined by the quantity and quality of data...
A mathematical model of a new “full-bridge Buck inverter–DC motor” system is developed and experimentally validated. First, using circuit theory and the mathematical model of a DC motor, the dynamic behavior of the system under stud...
This paper presents the development of an Active Disturbance Rejection Controller (ADRC) to address the trajectory tracking problem of a 2DOF (Degrees of Freedom) Serial Flexible Robot. The proposed approach leverages differential flatness theory to...
The estimation of earth pressure is crucial in the design of retaining structures. The evaluation of vertical retaining walls has been well studied within the framework of the differential flat element method in prior investigations, in which the ver...
Considering the competitive and strongly regulated pharmaceutical industry, mathematical modeling and process systems engineering might be useful tools for implementing quality by design (QbD) and quality by control (QbC) strategies for low-cost but...
This work considers the DC part of a hybrid AC/DC microgrid with a meshed topology. We address cost minimization, battery scheduling and the power loss minimization within the power distribution network through constrained optimization. The novelty c...
Industry 4.0 has embraced process models in recent years, and the use of model-based digital twins has become even more critical in process systems engineering, monitoring, and control. However, the reliability of these models depends on the model pa...
In this paper, the modeling and the experimental verification of the “bidirectional DC/DC boost converter–DC motor” system are presented. By using circuit theory along with the model of a DC motor, the mathematical model of the syst...
The merger of a binary neutron star (BNS) system can lead to different final states depending on the total mass of the binary system and the equation of state (EOS). One of the possible outcomes of the merger is a long-lived (lifetime > 10 ms), co...
A new adaptive-like neural control strategy for motion reference trajectory tracking for a nonlinear electromagnetic suspension dynamic system is introduced. Artificial neural networks, differential flatness and sliding modes are strategically integr...
This article addresses the problem of balancing an inverted spherical pendulum on a quadrotor. The full dynamic model is obtained via the Euler-Lagrange formalism, where the dynamics of the pendulum is coupled to the dynamics of the quadrotor, taking...
In recent years, the increasing penetration level of wind energy into power systems has brought new issues and challenges. One of the main concerns is the issue of dynamic response capability during outer disturbance conditions, especially the fault-...
In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller i...
A mathematical model of cerebral blood flow in the form of a dynamical system is studied. The cerebral blood flow autoregulation modeling problem is treated as a nonlinear control problem and the potential and applicability of the nonlinear control t...
This paper has two aims. The first is to develop a robust hierarchical tracking controller for the DC/DC Buck-Boost–inverter–DC motor system. This controller considers a high level control for the inverter–DC motor subsystems and a...
A robust controller for the waypoint tracking of a quadrotor unmanned aerial vehicle (UAV) is proposed in this paper, in which position control and attitude control are effectively decoupled. Model predictive control (MPC) is employed in the position...
In this article, we present an innovative approach to 2D visual servoing (IBVS), aiming to guide an object to its destination while avoiding collisions with obstacles and keeping the target within the camera’s field of view. A single monocular...
In this paper, we propose a novel distributed algorithm based on model predictive control and alternating direction multiplier method (DMPC-ADMM) for cooperative trajectory planning of quadrotor swarms. First, a receding horizon trajectory planning o...
Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies...
In this paper, a novel control architecture is proposed in which FMPC couples feedback from model predictive control with feedforward linearization. The proposed approach has the computational advantage of only requiring a convex quadratic program to...
In this survey, we describe the fundamental differential-geometric structures of information manifolds, state the fundamental theorem of information geometry, and illustrate some use cases of these information manifolds in information sciences. The e...
This article describes semi-active modern control schemes for a quarter-vehicle suspension with a magnetorheological damper (MRD) to attenuate vibrations and simultaneously improve the passenger comfort and the vehicle road-holding. The first solutio...
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