By introducing a set of exact disturbance estimators, a continuously tracking controller for a class of mismatched uncertain systems with exogenous disturbances will be proposed. The most appealing superiority is that the proposed exact disturbance e...
This paper studies the trajectory tracking anti-disturbance control of unmanned autonomous helicopters (UAHs) under matched disturbances and mismatched ones. Firstly, the six-degrees-of-freedom UAH nonlinear system is simplified via feedback lineariz...
To improve the dynamic property and the disturbance suppression ability of an electro-optical tracking system, this paper presents a disturbance-observer-based LQR tracking control method. The disturbance-observer-based robust controller is composed...
In this study, a finite-time disturbance observer (FTDOB) with a new structure is originally put forward for the motion tracking problem of a class of nonlinear systems subject to model uncertainties and exogenous disturbances. Compared to existing d...
This paper presents a new control approach for the trajectory tracking of a quadrotor in the presence of external disturbances. Unlike in previous studies using hierarchical control strategies, a nonlinear controller is designed by introducing new st...
In this study, a novel control framework is proposed to improve the tracking performance of uncertain marine vessels which work in enhanced sea states. The proposed control strategy is based on incorporating a fixed-time nonlinear disturbance observe...
In this article, the trajectory tracking control of a solar tracking system is tackled by means of an adaptive active disturbance rejection control scheme. The state and disturbance estimation system is based on the combination of a time varying iden...
This article discusses the problem of controlling the trajectory of a flapping-wing aircraft in the face of external disturbances. As the applications for flapping-wing aircraft have diversified, the external disturbances to which the system is expos...
In ocean environments with unknown complex disturbances, the control accuracy for an unmanned surface vehicle (USV) is severely challenged with an increase in task complexity. As the foundation for executing complex tasks, it is particularly importan...
Urban rail transit trains operate in a complex and changing environment susceptible to uncertainties such as unknown disturbances or actuator faults. In order to ensure that the automatic train control (ATC) system can operate safely and control accu...
The disturbance rejection rate (DRR) is an inherent problem of the seeker. The additional line-of-sight (LOS) angular velocity information of the seeker caused by the DRR will affect the attitude of the aircraft through the guidance system, thus form...
We address the problems in the trajectory tracking control of a multi-joint robotic arm, including uncertainty in the internal modeling of its significant external unknown time-varying disturbances. With the control objective of tracking the desired...
The auxiliary unmanned ground vehicle (AUGV) for physical education can significantly enhance the continuity and safety of training and competitions. However, obstacles and area boundary constraints present substantial challenges to the efficiency of...
In the mobile optoelectronic tracking system (MOTS) based on charge-coupled device (CCD) and fiber-optic gyroscope (FOG), the tracking performance (TP) and anti-disturbance ability (ADA) characterized by boresight error are of equal importance. Gener...
This paper addresses the problem of fixed-time consensus tracking for a class of nonlinear multiagent systems (MASs) with disturbances. We establish a novel fixed-time consensus tracking protocol with adaptive disturbance rejection capabilities, leve...
The compound unmanned aircraft is provided with three primary flight modes, which are helicopter flight mode in low forward speed flight, airplane flight mode in high forward speed flight and transition flight mode in middle forward speed flight. For...
A sun-tracking solar array is an effective solution to the increasing energy demand of spacecrafts. However, the driving torque fluctuation of the solar array driving assembly (SADA) and its oscillatory motion lead to the micro-vibration problem of t...
As the complexity of Low-Earth-Orbit (LEO) satellite tasks and their performance requirements increase, higher demands are placed on satellites’ ability to track mission trajectories, including their accuracy, speed, and capacity to resist exte...
Trajectory tracking is a fundamental task of the dynamic positioning (DP) system. This paper studies the problem of trajectory tracking of DP ships constrained by control inputs under environmental disturbances. To solve this problem, we develop a no...
Unmanned underwater vehicles (UUVs) possess impressive maneuverability and versatility, but controlling them during trajectory tracking can be challenging due to their susceptibility to external disturbances and perturbations in their model parameter...
A feedforward control was proposed based on the decoupling of target movement and disturbance from gyro signals to improve the stabilization precision of line-of-sight (LOS) for an electro-optical tracking system (EOTS) on a moving platform. Signals...
This article addresses trajectory tracking control of unmanned surface vessels (USVs) subject to position and velocity measurement biases. Unlike model uncertainties and external disturbances, measurement biases can lead to mismatched disturbances in...
This paper studies the trajectory tracking control problem of an autonomous underwater vehicle (AUV). A robust model predictive control (MPC) framework based on the implementation of the receding horizon is implemented to address the challenges of un...
In this paper, a sliding-mode control strategy incorporating prescribed features was systematically designed, resolving the dual challenges of trajectory tracking precision maintenance and disturbance attenuation for an AUV subjected to dynamic model...
An underactuated unmanned surface vessel (USV) is a nonholonomic system, in which trajectory tracking is a challenging problem that has drawn more and more attention from researchers recently. The control of trajectory tracking is of critical importa...
To address the challenge that unmanned surface vehicles (USVs) struggle to effectively balance tracking accuracy, control smoothness, and system energy efficiency under external disturbances, this paper proposes an anti-disturbance path tracking cont...
Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and mus...
Time-varying nonlinear external disturbances, as well as uncertainties in model and hydrodynamic parameters, make remotely operated vehicles (ROVs) trajectory tracking control complex and difficult. To solve this problem, this paper proposes a fast s...
This paper focuses on the trajectory tracking control for general nonlinear single-input single-output (SISO) systems in which the output is not directly related to the control input. To address the tracking problem with the consideration of possible...
This paper proposes a combined maximum efficiency tracking and improved active disturbance rejection control (ADRC) strategy for an inductive power transfer (IPT) system, addressing issues of reduced efficiency and voltage fluctuations under load var...
In practice, the consensus performance of a multi-UAV system can degrade significantly due to the presence of measurement noise and disturbances. However, simultaneously rejecting the noise and disturbances to achieve high-precision consensus trackin...
Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This pa...
In this study, we examined the robust super-twisting sliding mode backstepping control (SBSC) method, which employed a tracking differentiator and nonlinear disturbance observer for a hexacopter unmanned aerial vehicle (UAV) system. To realize robust...
To address the problems of random noise interference, inadequate disturbance estimation and compensation, and the difficulty in controller parameter tuning in speed tracking control of high-speed trains, an improved Active Disturbance Rejection Contr...
Stroke is a worldwide disease with a high incidence rate. After surviving a stroke, most patients are left with impaired upper or lower limb. Muscle force training is vital for stroke patients to recover limb function and improve their quality of lif...
Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized p...
We propose a control method that integrates adaptive fuzzy sliding-mode control (AF-SMC) with a fixed-time disturbance observer (FTDO) to address modeling errors, external disturbances, and input saturation in ship path tracking. The designed adaptiv...
This paper proposes a control scheme combining improved particle swarm optimization (IPSO) and adaptive linear active disturbance rejection control (ALADRC) to solve the high-speed train (HST) speed tracking control problem. Firstly, in order to meet...
Unmanned surface vehicles (USVs) course control research constitutes a vital branch of ship motion control studies and serves as a key technology for the development of marine critical equipment. Aiming at the problems of model uncertainties, externa...
This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagra...
Trajectory tracking is a crucial aspect of controlling nonlinear systems and is an important area of research. Researchers have proposed several strategies to perform this task in the presence of perturbations, which are the sum of a system’s u...
In this paper, a problem of influence of an input-gain uncertainty on the tracking performance of a control structure designed according to the Active Disturbance Rejection Control (ADRC) paradigm is investigated. This problem is exemplified using th...
To address the issues of low trajectory tracking accuracy and difficulties in tuning control parameters for crawler robots operating in uneven terrains, this paper proposes a trajectory tracking control method. The method is based on improved particl...
This paper addresses the path tracking problem of underactuated unmanned surface vessels (USVs) in the presence of unknown external disturbances. A fixed-time adaptive integral sliding mode control (AISMC) method, incorporating a nonlinear disturbanc...
Powered parafoils, known for their impressive load-bearing capacity and extended endurance, have garnered significant interest. However, the parafoil system is a highly complex nonlinear system. It primarily relies on the steering gear to change flig...
A multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the...
In this paper, we studied a fractional-order robust backstepping control (BSC) combined with a fractional-order tracking differentiator and a fractional-order nonlinear disturbance observer for a quadrotor unmanned aerial vehicle (UAV) system. A frac...
This paper presents an offset-free global tracking control algorithm for the input-constrained plants modeled as controllable and open-loop strictly stable linear time invariant (LTI) systems. The contribution of this study is two-fold: First, a glob...
This work proposes a non-singular fast terminal sliding mode control (NFTSMC) strategy based on the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm and a nonlinear disturbance observer (NDO) to address the issues of modeling errors, m...
In view of the difficulties encountered when tuning parameters and the lack of anti-interference capabilities exhibited by high-precision trajectory-tracking control of quadrotor UAVs in complex dynamic environments, this paper proposes a fusion cont...
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