Modern intelligent road transportation system raises new requirements for advanced vehicle control technology of automated heavy commercial vehicle (HCV). This paper develops a novel output feedback-based linear parameter varying (LPV)/\({{\cal H}_\infty}\) control paradigm for automated HCV to achieve multi-objective dynamic coordinated control. The proposed control paradigm aims at keeping vehicle

This paper studies some parameter estimation algorithms for a class of nonlinear models with exponential terms, i.e., the radial basis function-based state-dependent autoregressive (RBF-AR) models. An Aitken-based multi-innovation stochastic gradient algorithm is presented for the RBF-AR models based on the Aitken method. Inspired by the decomposition-coordination principle of large systems, an Aitken-based

In this paper, we consider a problem of global asymptotic stabilization for nonlinear systems with the perturbed nonlinearity. We provide a stabilizing controller with two gain-scaling factors and a new controller design method with matrix inequality approach. In particular, we provide a new procedure for selecting gain-scaling factors which are associated with stabilizing the closed-loop system. As

In the paper, the chaos least squares support vector machine algorithm (Chaos-LS-SVM) is applied. To conduct uncertainty analysis of wind power forecasting, two forecasting algorithms of the probabilistic uncertainty analysis based on the Monte Carlo method and the quantile regression analysis based on Chaos-LS-SVM are discussed. The effectiveness and superiority of the two uncertainty analysis methods

This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through

This paper deals the problem of integral sliding mode control using decoupled disturbance compensator for discrete-time systems with mismatched disturbances. The proposed method allows the disturbance compensation to be modified separately from the control input, since the two inputs of system are completely decoupled. In the developed method, the actual disturbance is estimated by the decoupled disturbance

This work is concerned with a structural characterization of the diagnosability property in Timed Continuous Petri Nets (TCPNs) systems under infinite server semantics. Regarding this problem, three novel results are presented. The first one is the introduction of structural sufficient conditions for diagnosability in TCPNs, which are based on the concepts of relative degree, system distinguishability

This paper investigates decentralized composite optimization problems involving a common non-smooth regularization term over an undirected and connected network. In the same situation, there exist lots of gradient-based proximal distributed methods, but most of them are only sublinearly convergent. The proof of linear convergence for this series of algorithms is extremely difficult. To set up the problem

This paper aims to investigate a coupled orbit-attitude control strategy for a kind of novel spacecraft, solar sail, to track the given orbit in Earth-Moon 3-Body dynamic environment in presence of the matched and mismatched disturbances, attitude control saturation, orbital modeling error and parametric uncertainties. A cascaded triple-loop control structure is proposed to deal with the strong couplings

In this article, an adaptive fuzzy finite time command filter control scheme is first proposed for a single machine infinite power system with static VAR compensator (SVC). The unknown external interference is taken into account in the controller design, and the incomplete single machine infinite SVC power system is formulated in terms of fuzzy logic system. The devised adaptive backstepping control

Given a discrete-time controlled bilinear systems with initial state x0 and output function yi, we investigate the maximal output set Θ(Ω) = {x0 ∈ ℝn, yi ∈ Ω, ∀ i ≥ 0} where Ω is a given constraint set and is a subset of ℝp. Using some stability hypothesis, we show that Θ(Ω) can be determined via a finite number of inequations. Also, we give an algorithmic process to generate the set Θ(Ω). To illustrate

Loop closure detection is an indispensable part of visual simultaneous location and mapping (SLAM). Correct detection of loop closure can help mobile robot to reduce the problem of cumulative pose drift. At present, the main method for detecting visual SLAM loop closure is the bag of words (BoW) model, but it lacks the spatial distribution information of local features of the image, and the scale will

Discovering task subsequences from a continuous video stream facilitates a robot imitation of sequential tasks. In this research, we develop unsupervised learning of the task subsequences which does not require a human teacher to give the supervised label of the subsequence. Task-discriminative feature, in the form of sparsely activated cells called task capsules, is proposed for self-training to preserve

Based on the feedback linearization of joints motion and the tension optimization of cables, a hyper-redundant snake-arm robot control strategy is presented to solve the problems caused by the joint motion coupling and the cable drive redundancy. First, a hierarchical control system architecture of snake-arm robot is developed. Subsequently, the computed torque control method is utilized to decouple

Tracking control of time-varying signal is a very challenging problem for the network environment applications. An adaptive control strategy based on the inverse of fuzzy singleton model is proposed in the paper. The fuzzy singleton model is a designed equivalent system instead of the fuzzy clustering model of the controlled process. Following an invertibility condition, a collection of predicted control

In this paper, a novel load disturbance observer-based global complementary sliding mode control (NLDOB-GCSMC) method is proposed to achieve high servo performance of the precision motion stage driven by a permanent magnet linear synchronous motor (PMLSM). The global complementary sliding mode control (GCSMC) method incorporates an approach angle into the saturation function to realize the dynamic

In this paper, the UKF-type nonlinear filtering problem is investigated for general nonlinear systems under stochastic communication protocols (SCPs) with unknown scheduling probabilities. In order to avoid the data collision and alleviate the network communication burden, SCPs, allowed only one sensor node to send data via the shared network, are exploited to orchestrate the scheduling order of sensor

This paper presents a closed-form solution for the global path following control of the planar vertical takeoff and landing (PVTOL) aircraft. The proposed control scheme consists of two steps. In the first step, a reference model is well constructed to generate a reference trajectory and a reference velocity satisfying some necessary constraints. In the second step, the backstepping control technique

Mechanical vibration energy harvesting using multi-switch circuit with adaptive inductance is a new method based on impedance matching between electrical circuit and mechanical vibrating system in order to maximize the harvested energy. Considering a vibrating piezoelectric element in parallel with a load resistance, the whole converted energy is not dissipated or flowed into the load resistance and

This paper investigates the input/output-to-state stability (IOSS) for continuous-time switched nonlinear systems (CTSNSs) containing both IOSS and non-IOSS constituent subsystems under mode-dependent average dwell time switching signal. New sufficient IOSS conditions are established to guarantee the IOSS properties of the CTSNSs, which extend the related existing results to a more general mode-dependent

This paper proposes the object depth estimation in real-time, using only a monocular camera in an onboard computer with a low-cost GPU. Our algorithm estimates scene depth from a sparse feature-based visual odometry algorithm and detects/tracks objects’ bounding box by utilizing the existing object detection algorithm in parallel. Both algorithms share their results, i.e., feature, motion, and bounding

The adaptive interval type-2 (IT2) fuzzy output feedback control problem is studied for a single-phase photovoltaic grid-connected power system. The equivalent resistors of the inductors in the system are unknown and the part states are not available. Interval type-2 fuzzy logic systems (IT2FLSs) are utilized to approximate the uncertain nonlinear dynamics, and an IT2 fuzzy state observer is designed

This study proposes a switching proportional-derivative (PD) controller for a press platform for inspecting the surfaces of a wind turbine blade. We use the Hunt-Crossley model to represent the probe shape or the nonlinearity of the inspection platform. This model consists of a nonlinear spring and a damper; therefore, it is more accurate than linear spring-damper models. We prove the global asymptotic

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed

In this paper, the event-triggered adaptive control for a class of series elastic actuator systems is considered. To solve this problem, firstly we propose an adaptive control scheme with a novel one-step design framework such that both the controller expression and parameter estimator are much simpler than related existing recursive design approaches. Then a set of event-triggering conditions is designed

The unified dynamics modeling of automobile chassis is the foundation of the chassis integrated control. Previous researches mainly focused on one or two subsystems, which could not fully reflect the dynamics characteristics of automobile chassis. In this paper, a unified dynamics mathematical model involving 18 degrees of freedom (DOF) of a two-axle vehicle is established to evaluate the ride comfort

In this paper, the output feedback stabilization problem is studied for a class of cascade nonlinear ODE-PDE systems. The nonlinear terms of ODE-subsystem are assumed to be bounded by a known constant multiplied by unmeasured states, and PDE-subsystem is a diffusion equation. Especially, the unstable diffusion equation is considered. Based on the low gain observer and a series of transformations, the

The stability problem of discrete-time linear systems with interval time-varying delays is investigated in this paper. According to the latest summation inequality technique, an improved free-matrix-based summation inequality is proposed in this paper. In order to make full use of the improved inequality to bound the upper bounds of the difference Lyapunov-Krasovskii functional (LKF), an augmented

A novel anti-disturbance strategy for a class of uncertain systems is investigated. Besides the unknown frequency sinusoidal, the controlled plant is subjected to bounded noise and unknown nonlinear term simultaneously. Through the construction of auxiliary observer, the sinusoidal is represented in a parametric uncertainty form. Only one unknown scalar needs estimating to construct compensation signal

The surface temperature of workpieces in a multi-temperature zone sintering furnace is an important parameter to characterize the performances of a multi-temperature zone system. Due to the practical structural properties of the sintering furnace, however, the conventional way of temperature measurement cannot detect the exact surface temperature of the workpieces directly, making it difficult to control

This paper studies the H∞ filtering problem of stochastic linear systems subject to Markovian jump and multiplicative noise. The transition probabilities are considered to be uncertain. A unified form of filters is constructed for both continuous-time and discrete-time stochastic systems. With the new decoupling technique for the coupling terms between Lyapunov matrices and filtering parameters, sufficient

A robust disturbance rejection control scheme is addressed for the trajectory tracking problem of a flexible-joint robot (FJR). The system is always severely affected by various types of unknown disturbances including model errors, couplings, changing working environments as well as unmodeled dynamics. These disturbances on the link and actuator side will deteriorate the control performance of FJR

In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on the states, and model uncertainties. First, a new improved integral barrier Lyapunov function is proposed to constrain the surge speed, it can guarantee the lower limit of the surge speed is above the resistance hump speed in order to prevent loss of course stability

This paper proposes a new approach to the carrot-chasing guidance law to provide an accurate trajectory-tracking function. The ahead-distance approach used in the conventional method highly depends on trajectory shapes and the complex geometric manipulation causes degraded performance. To overcome this disadvantage, the ahead-distance is replaced with the ahead time and the desired trajectory to the

Three phase brushless DC motor has the characteristics of high power density, simple structure and excellent speed regulation performance, which is widely used in the field of electric drive. Open-end winding brushless DC motor has no neutral point, and each phase winding is electrically isolated, which can realize the independent control of each phase winding. Compared with Y-connected brushless DC

This paper is concerned with the problem of protocol-based sliding mode control for a class of uncertain discrete networked Markovian jump systems with stochastic perturbation and time-varying delays. An improved dynamic uniform quantizer for processing system output signals is proposed to mitigate communication constraints. Next, a Round-Robin protocol with zero-order holders is introduced in the

The reinforcement learning problem of complex action control in multiplayer online battlefield games has brought considerable interest in the deep learning field. This problem involves more complex states and action spaces than traditional confrontation games, making it difficult to search for any strategy with human-level performance. This paper presents a deep reinforcement learning model to solve

In this paper, the problems of finite-time stability analysis and finite-time stabilization are investigated for Markovian jump linear systems with incomplete transition descriptions. Two sufficient conditions are proposed to guarantee that the system states do not exceed a certain threshold in mean-square sense during a specified time interval for the continuous-time Markovian jump linear systems

This paper proposes a new type of 3D foot scanning system using rotational and translational 3D scanning stages. Commercial 3D foot scanning systems (or scanners) mostly employ the laser triangulation method and three or more linear stages to scan the entire 3D shape of the foot. We introduce a new foot scanning method using only two laser-camera triangulation sensors. The proposed scanning system

This paper presents a function approximation technique based immersion and invariance adaptive controller for chaos synchronization between nonidentical systems with unknown dynamics. In the proposed control scheme, the control system is reconstructed as the combination of a controllable linear system and a variation term from the original system. The variation term is treated as time-varying uncertainty

This article presents the design of a parameter identification model for industrial manipulator robots. This model includes the dynamics of servomotor-type actuators and therefore is formulated based on acceleration, speed, position and voltage applied to the actuator. In this way, calculating the torque of a joint during motion to estimate parameters, as in the Inverse Dynamic Identification Model

Many diagnosis approaches for discrete event systems are diagnoser-based. A diagnoser is a deterministic automaton that can be built directly from the underlying system model by performing ε-reduction and determinization operations. The diagnoser-based approaches allow for analyzing diagnosability, but they also support online diagnosis in a straightforward way. The procedure for investigating diagnosability

A coordinated adaptive feedback linearization controller (FLC-A) based on a flux observer for DC-based DFIG to track the maximum power point (MPP) is introduced in this paper. The stator and rotor of DFIG are connected to DC grid directly by two voltage source converters. First, an adaptive controller is used to track the MPP on the system which is decoupled by a single-loop feedback linearization

In this paper, we address the fixed-time consensus tracking problem of second-order leader-follower multi-agent systems with nonlinear dynamics under directed topology. The consensus tracking algorithm consists of distributed observer and observer-based decentralized controller. The fixed-time distributed observer guarantees that each follower estimates the leader’s state under directed topology within

This paper investigates the problem of event-triggered finite-time extended dissipative control for a class of switched linear systems. We propose a novel event-triggered method that allows frequent system switching over an event-triggered interval, which is different from the previous work that only one switching happened over the event-triggered interval. By average dwell time and a novel controller-mode-dependent

This paper focuses on the stabilization of a class of uncertain switched linear systems with admissible edge-dependent (AED) switching signals, where disturbances exist in not only the state equation but also output equation. The performance of switchings from the current system mode to the other is shown by the concept of admissible transition edge-dependent weights (ATEWs). A special output transformation

The paper considers sliding manifold design for higher-order sliding mode (HOSM) in linear systems. In this case, the sliding manifold must meet two requirements: to achieve the desired dynamics in HOSM and to provide the appropriate relative degree of the sliding variable depending on the SM order. It is shown that in the case of single-input systems, a unique sliding manifold can be determined that

This paper concerns with the robust sliding mode fault-tolerant consensus problem for a class of undertain second-order leader-follower multi-agent systems based on event-triggering strategies. First, a sliding mode fault-tolerant controller which uses the bound information of actuator failure rate and the event-triggering threshold is designed to ensure the robust consensus of the multi-agent systems

The fault and disturbances estimation has an important role in the modern traction railway system. This paper proposes a unique method for the real-time robust sensor fault detection and unknown bounded disturbances estimation of high switching frequency single-phase pulse width modulation (PWM) rectifier. The new state observer is designed for open-circuit sensors fault for single-phase PWM rectifier

In this paper, the stability issue of networked system with dynamical topology in intelligent vehicle is studied. The systems are comprised by multi-vehicles coupled by vehicle network. The topological structure of vehicle network is subject to jump, and control signals are exchanged by the communication network with random network-induced delay. Firstly, the discrete-time state space equation for

In this paper, we analyze the relationship between sensor bandwidth and heading drift, and improve a pedestrian dead-reckoning (PDR) system considering the heading drift by the insufficient bandwidth. The PDR system using foot-mounted inertial measurement unit (IMU) is generally based on an inertial navigation system (INS). In order to reduce the estimated position error, INS is combined with the zero-velocity

To provide desired control performance for turbofan engines subject to external disturbances, a nonlinear H∞ set-point control approach is proposed in this paper. The nonlinear H∞ set-point control expands the scope of controllable operation and limits the impact of disturbances on turbofan engines, which can effectively reduce the frequency of controller switching and improve the stability of the

Electric vehicles are a key technology to decarbonize the transport sector where interior permanent magnet synchronous motors (IPMSMs) are the best performer at the heart of the electrical drive system. In order to optimize their operational efficiency, the model-based method associated with parameter identification is widely adopted. However, efficiency optimization and parameter identification in

To improve the filtering effect of the sparse grid quadrature filter (SGQF) under non-Gaussian conditions, the Gaussian sum technique is introduced, and the Gaussian sum sparse grid quadrature filter (GSSGQF) is developed. We present a systematic formulation of the SGQF and extend it to the discrete-time nonlinear system with the non-Gaussian noise. The proposed algorithm approximates the non-Gaussian

In this paper, a novel guaranteed cost control scheme that takes into account state time-delay and parametric uncertainties is proposed for high-speed train (HST) optimal operation control. First, a linear dynamic model of HST is built, where the basic and additional resistances, in-train force, train effort as well as state time-delay are addressed explicitly. Second, an operation criterion considering

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway’s body to improve the cornering characteristics during turning. To ensure Segway’s driving safety in the curvature motion, it is necessary to compensate for the centrifugal force by tilting the footplate to generate inward force by the reaction force

In recent years, model order reduction (MOR) has been interested in more and more scientists. A lot of MOR algorithms have been introduced by many different approaches, among which preserving the dominant poles of the original system and Hankel singular values of the original system in order reduction system are appropriate approaches with many advantages. The article introduces a new MOR algorithm

For course control of ships with unknown control coefficient and model parameters, an indirect adaptive robust controller, in which the parameter estimation law and the control law are designed separately, is proposed. This design method can achieve not only excellent course control performance but also accurate parameter estimates for secondary purposes such as assisting in ship maneuvering decision

This paper deals with the fault detection problem for a class of randomly occurring nonlinear systems with channel fadings under stochastic communication protocol (SCP). Due to the limited communication capacity, the stochastic communication protocol is adopted to determine when the sensor node is used to transmit data between the sensors and the fault detection filter, the actual measurement signal

Unmanned aerial vehicles (UAVs) are prone to losing their targets when tracking moving objectives. A tracking strategy is proposed herein that enables the standoff tracking of a moving target using a vision system, which significantly reduces the occurrence of target loss. The strategy combines the Gimbal Control Algorithm based on Motion Compensation (GCAMC) with the Improved Reference Point Guidance