Renewable energy sources play a great role in the sustainability of natural resources and a healthy environment. Among these, solar photovoltaic (PV) systems are becoming more economically viable. However, as the utility of solar energy conversion sy...
This article introduces a novel decentralized compliance control technique designed to manage the behavior of multi-axle heavy vehicles equipped with electro-hydraulic actuator suspension systems on uneven terrains. To address the challenges of contr...
The regulation of wastewater treatment plants (WWTPs) is a challenge due to their complex biological and chemical characteristics and their accurate mathematical model is generally not accessible because of the limitation of available measurements. T...
Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an aerial manipulation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a two-degree-of-freedom manipulator. The system adopte...
This paper studies the consensus fault-tolerant control problem of a class of second-order leader–follower multi-agent systems with unknown disturbance and actuator faults, and proposes an integral non-singular terminal sliding mode control alg...
In order to realize the problem of tracking control of the trajectory of robot manipulators under variable load conditions, this paper proposes a non-singular fast terminal sliding mode tracking control design for robot manipulators based on integrat...
In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, wa...
This article aims to develop a new Adaptive Proportional Integral Derivative (PID) Nonsingular Dual Terminal Sliding Mode Control, designed for tracking the position of robot manipulators under disturbances and uncertainties. Compared with existing P...
In manufacturing, the position tracking accuracy and stability of Permanent Magnet Synchronous Motors are often challenged by uncertainties, especially in complex environments. Existing control methods struggle to balance fast response with high-prec...
This paper presents an adaptive fixed-time fractional integral control for externally disturbed Euler–Lagrange systems. In the first step of the control design, the approach of fractional-order fixed-time integral nonsingular terminal sliding m...
To address the issue of low trajectory tracking accuracy in six-degree-of-freedom robotic arms, this study proposes a trajectory tracking control strategy that integrates a Radial Basis Function Neural Network (RBFNN) with non-singular fast terminal...
When a permanent magnet synchronous motor runs at low speed, the inverter will output discontinuous current and generate torque ripple; when the motor is runs at high speed, a large amount of stator harmonic current generates, which affects its speed...
Regarding the high susceptibility problem of the Permanent Magnet Synchronous Motor (PMSM) to various uncertain factors, including load variations, parameter perturbations, and external interferences in the ship’s electric propulsion system, th...
This study proposes an adaptive non-singular fast terminal sliding mode control (NFTSMC)-based direct yaw moment control (DYC) strategy to enhance driving stability in four-wheel independent drive (4WID) electric vehicles. Unlike conventional SMC, th...
Piezo-driven fast steering mirrors (PFSMs) are widely employed in high-precision beam steering and accurate tracking applications. However, the inherent hysteresis nonlinearity of piezoelectric actuators significantly degrades tracking accuracy. To a...
Microsatellites have significantly impacted space missions by offering advanced technology at a low cost. This study introduces an attitude determination and control algorithm for agile whiskbroom scanning maneuvers in microsatellites to enable wide-...
During quadrotor load transport, the cable’s elasticity exacerbates load fluctuations, which may result in platform instability or a potential crash. This paper introduced a model of the connecting cable as a spring-damper system and establishe...
Due to its high power-to-weight ratio, low weight, and silent operation, shape memory alloy (SMA) is widely used as a muscle-like soft actuator in intelligent bionic robot systems. However, hysteresis nonlinearity and multi-valued mapping behavior ca...
This paper suggests a hierarchical coordination control strategy to enhance the stability of distributed drive electric bus. First, an observer based on sliding mode observer (SMO) and adaptive neural fuzzy inference system (ANFIS) was designed to es...
Permanent Magnet Synchronous Motors (PMSMs) are nonlinear, multi-parameter systems that exhibit structural symmetry but are susceptible to parameter variations and external disturbances. These challenges can disrupt the inherent symmetrical character...
The problem of quadrotor attitude and position control is considered in the presence of generally lumped disturbances: external disturbances and model uncertainty. The improved active disturbance rejection controller (ADRC) for quadrotor trajectory t...
Safe and efficient autonomous lane changing is a key step of connected automated vehicles (CAVs), which can greatly reduce the traffic accident rate and relieve the traffic pressure. Aiming at the requirements of the smoothness and efficiency of the...
High-speed aircraft actuators are critical for precise control of aerodynamic surfaces, demanding fast response, accuracy, and robustness against uncertainties and disturbances. However, the complex nonlinear dynamics of these systems pose significan...
The High-Pressure Common Rail System (HPCRS) is designed based on fundamental hydrodynamic principles, after which this paper formally defines the key control challenges. The proposed continuous sliding mode control strategy is developed based on a n...
This study proposes a fixed-time precision tracking control scheme for unmanned surface vessels with complex disturbances and unknown system dynamics. The control scheme is based on a nonsingular fast terminal sliding mode and includes an adaptive fi...
A fast and stable flight control system is crucial for improving the efficiency of unmanned aerial vehicle (UAV) missions. Focusing on the trajectory tracking control of quadrotor UAVs, this paper proposes a trajectory tracking control method based o...
Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconn...
This paper proposes a cascaded dual closed-loop control strategy that incorporates time delay estimation and sliding mode control (SMC) to address the issue of uncertain disturbances in logistic unmanned aerial vehicles (UAVs) caused by ground effect...
This paper presents a novel adaptive sliding mode controller for a class of robot manipulators with unknown disturbances and system failures, which can well achieve the asymptotic tracking, and avoid some possible singularity problems. A new virtual...
This brief tackles the predefined-time attitude tracking problem with guaranteed performance for rigid spacecraft subject to uncertain inertia, external disturbances, and actuator partial failure. Firstly, a nonlinear prescribed performance function...
In addressing the control of asynchronous motors in the remote conductivity of fertigation machines, this study proposes a joint control strategy based on the Fast Terminal Sliding Mode Control-Disturbance Observer (FTSMC-DO) system for asynchronous...
This paper investigates the problem of fault tolerant control (FTC) for autonomous underwater vehicles (AUVs) with multiple thrusters in the presence of current disturbances, thruster faults, and modelling uncertainty. This paper focuses on the probl...
This paper focuses on the integrated modeling and disturbance rejection of the aerial work quadrotor with a robotic arm. First, to address the issues of model incompleteness and parameter uncertainty commonly encountered in traditional Newton–E...
Rehabilitation robotics has seen growing popularity in recent years due to its immense potential for improving the lives of people with disabilities. However, the complex, uncertain dynamics of these systems present significant control challenges, re...
Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sl...
Given the increased significance of electric vehicles in recent years, this study aimed to develop a novel form of direct yaw-moment control (DYC) to enhance the driving stability of four-wheel independent drive (4WID) electric vehicles. Specifically...
Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS) is proposed based on Nonlinear Model Predictive Algorithm. Considering the no...
In this paper, the problems of system design, dynamic modeling, and trajectory tracking control of coaxial hybrid aerial underwater vehicles (HAUVs) with time-varying model parameters and composite marine environment disturbances are investigated. It...
The significant role for a contemporary control algorithm in the position control of a permanent magnet linear motor (PMLM) system is highlighted by the rigorous standards for accuracy in many modern industrial and robotics applications. A robust pre...
Quadrotor unmanned aerial vehicles (QUAVs) are widely recognized for their versatility and advantages across diverse applications. However, their inherent instability and underactuated dynamics pose significant challenges, particularly under external...
This paper studies the trajectory tracking control of a space robot system (SRS) in the presence of the lumped uncertainties with no prior knowledge of their upper bound. Although some related control methods have been proposed, most of them have eit...
Resonant frequency tracking control of electromagnetic acoustic transducers (EMATs) remains a challenge in terms of drifting working frequency and reduced conversion efficiency caused by working environment changes. This paper presents a fixed-time n...
With the rapid advancement of maritime sports, the integration of auxiliary unmanned surface vehicles (USVs) has emerged as a promising solution to enhance the efficiency and safety of maritime education, particularly in tasks such as buoy deployment...
With the rapid development of deep-sea resource exploration and marine scientific research, wheeled remotely operated vehicles (ROVs) have become crucial for seabed operations. However, under complex seabed conditions, traditional ROV control systems...
High dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near...