During the transposition of a target satellite, dynamic coupling between the target satellite, the manipulators, and the base frequently leads to disturbances in the base’s attitude. To deal with the issue, this paper proposed a pose stabilizat...
Fractional-order PID control extends conventional PID control by allowing the integral and derivative orders to take non-integer values, thereby introducing
This paper investigates the well-posedness of the inverse problem for the time-fractional Burgers equation, which aims to reconstruct initial conditions from terminal observations. Such equations are crucial for the modeling of hydrodynamic phenomena...
In this paper, we investigate the inverse of the set of unknown functions
Aiming at the time-varying uncertainties of robot and camera models in IBUVS (image-based uncalibrated visual servo) systems, a finite-time adaptive controller is proposed based on the depth-independent Jacobian matrix. Firstly, the adaptive law of d...
For integrated pose control of six-degree-of-freedom (6-DOF) leader–following spacecraft formations, the coupled relative pose between two spacecraft is described by a unified model in the framework of twistors, based on which a finite-time con...
High-precision measurement of six-degree-of-freedom relative pose is a critical challenge for deformation control and stability improvement of structural components in precision assembly and aerospace structural components. To address incomplete pose...
Quadrotors play a crucial role in the national economy. The control technology for quadrotor-slung load transportation systems has become a research hotspot. However, the underactuated load’s swing poses significant challenges to the stability...
This article explores trajectory-following control for an unmanned aerial–aquatic vehicle (UAAV) navigating complex ocean disturbances and the interplay of air–seawater coupling factors. First, leveraging the backstepping technology, an a...
Autonomous vehicles can obtain real-time road information using 3D sensors. With road information, vehicles avoid obstacles through real-time path planning to improve their safety and stability. However, most of the research on driverless vehicles ha...
As distributed renewable energy is integrated into the power grid, the issue of small-signal stability arising from the interaction between the grid-connected converters and the grid-side impedance cannot be overlooked. However, when multiple convert...
With the gradual emergence of trends such as the asynchronous interconnection of power grids and the increasing penetration of renewable energy, the issues of ultra-low-frequency oscillations and low-frequency stability in power grids have become mor...
The increasing proportion of wind power systems in the power system poses a challenge to frequency stability. This paper presents a novel fuzzy frequency controller. First, this paper models and analyzes the components of the wind storage system and...
The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and a...
In response to the inherent nonlinearity and complex coupling of quadrotor UAV systems, as well as the challenge of maintaining a stable flight attitude under external disturbances, this paper proposes a UAV pose control method based on a fusion of A...
The stable operation of a microgrid is crucial to the integration of renewable energy sources. However, with the expansion of scale in electronic devices applied in the microgrid, the interaction between voltage source converters poses a great threat...
Drones are typically built with integrated cameras and inertial measurement units (IMUs). It is crucial to achieve drone attitude control through relative pose estimation using cameras. IMU drift can be ignored over short periods. Based on this premi...
This paper presents a data-driven kinematic model for the end-effector pose control applied to a variety of manipulator robots, focusing on the entire end-effector’s pose (position and orientation). The measured signals of the full pose and the...
In robot navigation and manipulation, accurately determining the camera’s pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the Perspective-3-Point...
Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical mod...
The volatility and uncertainty introduced by increasingly integrated renewable energy pose challenges to the reliable and stable operation of the power system. To mitigate the operation risks, a two-stage optimal preventive control model that incorpo...
Autonomous docking is a core capability enabling full autonomy of unmanned surface vehicles (USVs), whose practical deployment demands visual pose estimation with high efficiency, temporal stability, and closed-loop control compatibility. This paper...
Stabilization and tracking problems for cart inverted pendulums under disturbances and uncertainties have posed significant challenges for control engineers. While various controllers have been designed for an inverted pendulum, they often overlook t...
This paper presents a distributed hierarchical model predictive control (MPC) framework designed to ensure dynamic consensus and stability in nonlinear vehicle platoons, addressing challenges posed by mixed communication topologies and hard constrain...
With the continuous and rapid growth of global photovoltaic (PV) installed capacity, the fluctuation, intermittence, and randomness of its output aggravate the inertia loss of traditional power systems, which poses severe challenges to grid voltage s...
Vehicle pose detection plays a vital role in modern automotive technology, which can improve driving safety, enhance vehicle stability and provide important support for the development of autonomous driving technology. The current pose estimation met...
Distributed photovoltaic grid-connected converters adopting droop control can provide dual support for voltage and frequency in the distribution system. However, under fault conditions, droop-controlled inverters will face the problem of transient sy...
The inherent negative impedance characteristics of a Constant Power Load (CPL) pose a potential threat to the stability of the bus voltage in a DC microgrid consisting of a symmetrical parallel boost converter. We suggest an adaptive feedback control...
The large-scale integration of renewable energy into power systems significantly alters their operational characteristics, reducing system inertia and posing challenges to transient frequency stability. Virtual synchronous generator (VSG) technology...
With the rapid expansion of the internet and accelerated information dissemination, rumors pose a significant threat to social stability. Effective rumor control requires a thorough understanding of propagation mechanisms. This study develops a Caput...
The motion control of vehicles poses distinct challenges for both vehicle stability and path tracking, especially under critical environmental and driving conditions. Overactuated vehicles can effectively utilize the available tyre–road frictio...
Underactuated systems, such as the Cart–Pole and Acrobot, pose significant control challenges due to their inherent nonlinearity and limited actuation. Traditional control methods often struggle to achieve stable and optimal performance in thes...
The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, give...
The adaptability of a hexapod robot to complex terrain is highly dependent on its own posture, which directly affects its stability and flexibility. In order to adapt to a change in terrain, it is necessary to adjust posture in real time when walking...
Chaotic behavior in power systems that are integrated with permanent-magnet synchronous generators (PMSGs) poses a significant threat to stability and security. Existing control methods often suffer from slow convergence, reliance on precise system m...
This paper presents a quasi-static model-based control algorithm for controlling the motion of a soft robotic exo-digit with three independent actuation joints physically interacting with the human finger. A quasi-static analytical model of physical...
In complex terrain, such as uneven roads or irregular terrain, two-wheeled heavy-duty self-balancing vehicles are easily affected by external interference factors, causing rollover or rendering the vehicle unable to move, which poses a greater challe...
Strawberry harvesting represents a labor-intensive agricultural operation where existing end-effector pose control algorithms frequently exhibit insufficient precision in fruit grasping, often resulting in unintended damage to target fruits. Concurre...
An online off-policy asynchronous real-time model reference tracking control (OOART-MRTC) algorithm is proposed and validated for unmanned aerial vehicles (UAVs) characterized by faulty actuation and parametric uncertainty. The optimal control proble...
This study examines the pose control of the 4-RPU redundant parallel mechanism of a hybrid condenser cleaning robot in response to the poor control accuracy of current cleaning robots. The kinematics of the 4-RPU mechanism is analysed, and its dynami...
Electro-optical bunch arrival time measurement is a method to monitor the timing of bunches in predominantly linear electron accelerators to below femtosecond precision. Despite the method being well established, a stable and fully available measurem...
This paper introduces an adaptive prescribed performance control (PPC) methodology designed to achieve appointed-time stabilization for morphing aircraft. The proposed approach ensures accurate attitude tracking despite challenges posed by time-varyi...
Partial demagnetization of multiple in-wheel motors changes torque distribution characteristics and can reduce vehicle stability, which poses a challenge for in-wheel motor drive electric vehicles (IWMDEVs) to maintain a balance between safety and ef...
In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabili...
Water-based drill cuttings generated during onshore natural gas development are complex solid wastes that may pose environmental risks if improperly managed. This study evaluates the feasibility of reutilizing water-based drill cuttings as pavement b...
The rapid expansion of the Internet and communication technologies is leading to significant changes in both society and the economy. This development is driving the evolution of smart cities, which utilize cutting-edge technologies and data analysis...
Time-varying delay and limited communication resources pose two fundamental challenges to the stability and efficiency of discrete-time cascade control systems (CCS). To address these issues, this paper presents, for the first time, the co-design of...
This paper focuses on addressing the adaptive fuzzy fixed-time issue for a class of nonlinear systems with uncertainty functions and mismatched disturbances. Fuzzy logical systems are utilized for identifying unknown functions. Additionally, to tackl...
To address the issue of agricultural robot loss of control caused by GNSS signal degradation or loss in complex agricultural environments such as farmland and orchards, this study proposes a neural network-based SLAM/GNSS fusion localization algorith...
As renewable energy sources increasingly penetrate power systems, ensuring operational stability during grid faults poses a significant challenge. Conventional fault-ride-through (FRT) control strategies often lack systematic parameter optimization,...
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