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...
In this paper, a finite-time control method integrating a high-order disturbance observer (HODO) and a finite-time auxiliary system (FTAS) is proposed for maneuvering aircraft under disturbances and input constraints. To attenuate the adverse effects...
Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constr...
This paper investigates the optimal sliding mode control (SMC) of modular multilevel converters (MMCs) by considering control input constraints. Conventional SMC methods for MMCs typically overlook the system’s constraints. To address this, an...
During the actual operation of a boiler-turbine system (BTS), it inevitably encounters various unknown disturbances and model uncertainty. Additionally, due to physical limitations, there are constraints on both the magnitude and the change rate of u...
In this work, a predefined-time formation output constraint control method is proposed for underactuated AUVs with input saturation. First, a coordinate transformation method is utilized to convert the underactuated AUV system into a fully actuated s...
With increasing attention on containment control problems in several areas, we investigate this specific problem which can be more practical. Systems with nonconvex input and position constraints are common but can be strongly nonlinear. A distribute...
This paper proposes an approximate optimal curve-path-tracking control algorithm for partially unknown nonlinear systems subject to asymmetric control input constraints. Firstly, the problem is simplified by introducing a feedforward control law, and...
This study focuses on addressing the problem of motion planning within workspaces cluttered with obstacles while considering temporal and input constraints. These specifications can encapsulate intricate high-level objectives involving both temporal...
This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varyin...
This article investigates containment control for high-order heterogeneous continuous-time multi-agent systems (MASs) with input nonconvex constraints, bounded communication delays and switching topologies. Firstly, we introduce a scaling factor for...
In this paper, we investigate the constrained optimal control problem of nonlinear multi-input safety-critical systems with uncertain disturbances and time-varying safety constraints. By utilizing a barrier function transformation, together with a ne...
A robust H∞-type state feedback model predictive control (H∞-SFMPC) with input constraints is proposed to optimize the control performance during the ship sailing. Specifically, the approach employed in this paper is able to optimize the...
This paper presents a tracking control scheme for nonlinear systems with input constraints by combining the continuous-time model predictive control and the feedback linearization. Although there are some similar combinations for nonlinear systems pr...
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 paper, the safe optimal control method for continuous-time (CT) nonlinear safety-critical systems with asymmetric input constraints and unmatched disturbances based on the adaptive dynamic programming (ADP) is investigated. Initially, a new n...
This paper proposes a novel reinforcement learning (RL)-based tracking control scheme with fixed-time prescribed performance for a reusable launch vehicle subject to parametric uncertainties, external disturbances, and input constraints. First, a fix...
In this paper, a prescribed performance control scheme of the quadrotor unmanned aerial vehicle (UAV) under attitude and input saturation constraints is introduced. According to the underactuated feature, the quadrotor UAV system can be decomposed in...
This paper presents a distributed adaptive formation control strategy for a multiple near-space vehicles (NSVs) system operating under unknown input constraints and external disturbances. In challenging near-space environments, the control system mus...
In this paper, an adaptive neural fault-tolerant tracking control scheme is presented for the yaw control of an unmanned-aerial-vehicle helicopter. The scheme incorporates a non-affine nonlinear system that manages actuator faults, input saturation,...
This paper proposed an innovative guidance strategy, denoted as NMPC-IM, which integrates the Insensitive Mechanism (IM) with Nonlinear Model Predictive Control (NMPC) for Unmanned Aerial Vehicle (UAV) pursuit-evasion scenarios, with the aim of effec...
In this paper, an adaptive iterative learning control (AILC) law is developed for two-link rigid-flexible coupled manipulator system in three-dimensional (3D) space with time-varying disturbances and input constraints. Based on the Hamilton’s p...
Many existing control techniques proposed in the literature tend to overlook faults and physical limitations in the systems, which significantly restricts their applicability to practical, real-world systems. Consequently, there is an urgent necessit...
This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important f...
This dissertation presents a fresh control strategy for dynamic positioning vessels exposed to model uncertainty, various external disturbances, and input constraint. The vessel is supposed to work in a particular situation surrounding a lighthouse o...
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...
The aerial flexible-joint robot (AFJR) manipulation system has been widely used in recent years. To handle uncertainty, the input saturation and the output constraint existing in the system, a fixed-time observer-based adaptive control scheme (FTOAC)...
This paper addresses the problem of leader–follower synchronization of uncertain Euler–Lagrange systems under input constraints. The problem is solved in a distributed model reference adaptive control framework that includes positive
Safety-critical control is a type of modern control task where potentially conflicting stability, safety, and input constraints coexist. In this paper, the Prescribed-Time Zeroing Control Barrier Function (PT-ZCBF) is introduced, which can be applied...
Due to the nonlinear and asymmetric input constraints of the fixed-wing UAVs, it is a challenging task to design controllers for the fixed-wing UAV formation control. Distance-based formation control does not require global positions as well as the a...
Flexible manipulators are widely applied in many fields. Here, the control design for a simplified flexible manipulator model with nonlinear inputs and state constraints is studied. The impact of two inputs and disturbances on the system was consider...
This paper studies the problem of adaptive fuzzy control based on command filtering for a class of nonlinear systems characterized by an input dead zone, input saturation, and unknown control direction. First, this paper proposes a novel equivalent t...
This paper proposes a data-driven control design framework for linear parameter-varying (LPV) systems with polyhedral and ellipsoidal constraints, where the input matrix of the system is constant. In contrast to traditional model-based approaches, th...
This paper deals with the leader-follower formation control of underactuated autonomous surface vehicles in the presence of model uncertainties and input constraints. In a leader-follower formation, an autonomous surface vehicle (ASV) called leader t...
In the presence of dynamic uncertainties, external time-varying disturbances, and limited inputs to the multi-point mooring system (MPMS) of a floating offshore platform (FOP), this paper proposes a robust adaptive dynamic surface (RADS) control meth...
This paper presents a robust output-feedback fuzzy control scheme for autonomous bus–trailer systems, which can be formulated as a multi-input multi-output system. To ensure driving safety, the proposed design explicitly accounts for both input...
System identification, in practice, is carried out by perturbing processes or plants under operation. That is why in many industrial applications a plant-friendly input signal would be preferred for system identification. The goal of the study is to...
This paper addresses the problem of decentralized safety control (DSC) of constrained interconnected nonlinear safety-critical systems under reinforcement learning strategies, where asymmetric input constraints and security constraints are considered...
This study proposes an adaptive barrier functions-based non-singular terminal sliding mode control approach for the trajectory tracking of a quadrotor unmanned aerial vehicle subject to bounded uncertainties and input constraints. First, the state-sp...
In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set...
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 addresses the challenges of cooperative formation control and prescribed-time tracking for networked quadrotor UAVs under speed and input saturation constraints. A hierarchical control framework including position formation layer and attit...
To address the trajectory tracking problem of underwater manipulators operating in complex marine environments with strong multi-degree-of-freedom coupling, pronounced nonlinearities, and actuator saturation constraints, this paper proposes a super-t...
This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique....
We investigate the support of a capacity-achieving input to a vector-valued Gaussian noise channel. The input is subjected to a radial even-moment constraint and is either allowed to take any value in
In this paper, a robust fuzzy controller for stochastic nonlinear systems subject to multiple performance constraints is discussed. To solve the problem of stochastic behaviors in nonlinear systems, the covariance control theory and passive control t...
In this paper, we propose a consensus algorithm with input constraints for traffic light signals in transit signal priority (TSP). TSP ensures control strategy of traffic light signals can be adjusted and applied according to the real-time traffic st...
In hypersonic flight control, characterized by challenges posed by input saturation, model parameter uncertainties, and external disturbances, this paper introduces a pioneering anti-input saturation control method based on RBFNN adaptivity. We have...
This paper investigates the problem of finite-time distributed consensus control for non-triangular stochastic nonlinear multi-agent systems (SNMASs) with input constraints. Fuzzy logical systems are used to identify the unknown nonlinear dynamics of...
In this work, the capacity of multiple-input multiple-output channels that are subject to constraints on the support of the input is studied. The paper consists of two parts. The first part focuses on the general structure of capacity-achieving input...
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