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, 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

This paper presents an Unknown Input robust Observer (UIO) capable of simultaneously estimate both sensor fault and system states. The system is assumed to be discrete-time Takagi-Sugeno (T-S) Fuzzy with uncertainties. An augmented system is obtained from the dynamic fault model and original system. Afterward, an UIO is designed for the augmented system aiming at decoupling process disturbances. Its

Series elastic actuators (SEAs) have emerged as promising devices to enhance the safety of human-robot interactions in the manufacturing industry. However, the control of a hydraulic SEA under disturbance remains an unexplored issue. To address this problem, an admittance control method with parameter self-optimization is developed in this study. The hydraulic SEA and its dynamic model are first developed

This thesis’s object is inertial memristive neural networks (IMNNs) with proportional delays and switching jumps mismatch. Different from the traditional bounded delay, the proportional delay will be infinite as t → ∞. The finite-time synchronization (FN-TS) and fixed-time synchronization (FX-TS) can be realized with the devised controllers for the drive-response systems (D-RSs). Along with the Lyapunov

In this paper, we address a problem of multi-robotic coverage, where an area of interest is covered by multiple sensors, each mounted on an autonomous vehicle such as an aerial or a ground mobile robot. The area of interest is first decomposed into grids of equal size and then partitioned into Voronoi cells. Each robot/sensor is assigned the task of covering the corresponding Voronoi cell. We propose

This paper studies the tracking control problem of hypersonic vehicle in the process of external disturbance, parameters uncertainties and actuator faults. Firstly, a non-triangular velocity and altitude nonlinear subsystem with mismatched disturbances and actuator faults are established based on the feedback linearization model. Secondly, adaptive dynamic surface fault-tolerant controllers are designed

Fault Detection and Isolation (FDI) is crucial and challenging problem in many industrial applications and continues to be an on-going research issue in the control community. In the literature, model-based techniques are mostly employed to generate residuals for diagnosis and decision-making. In this paper, we focus on FDI problem using a novel based-clustering approach. The key idea is to restrict

Buck converter is a kind of converter device with high efficiency, wide adjustable output voltage, small loss, small size and light weight. Its circuit has nonlinearity and will exhibit abundant nonlinear phenomena with the change of circuit parameters, resulting in unstable output voltage and being susceptible to load and external disturbances. Therefore, a control method based on Extreme Learning

This paper addresses the anti-collision problem among mobile sensors-actuators, and settles the obstacle avoidance trouble between dynamic sensors-actuators and erratic obstacles in mobile sensor-actuator networks, which are based on a class of distributed parameter systems with time-varying delay. Initially, the radar obstacle avoidance technology is evolved into an obstacle avoidance function, combined

As a kind of intelligent marine equipment, its successful recovery is the basis of Unmanned Underwater Vehicle (UUV)’s normal working and completing the mission successfully. However, the mathematical model of UUV is severely coupled and highly nonlinear, and may be subject to complex interference in the recovery process. Besides, the model could not be determined completely. Active disturbance rejection

The treatment of brain tumors by chemotherapy through the controlled rate of drug has been a challenging task since long. Two nonlinear control algorithms: 1) synergetic 2) backstepping based controllers have been designed for the therapeutic agent in an updated mathematical model of brain tumor to reduce the tumor cells, to maintain a safe amount of healthy cells, to keep the immune cells above a

This paper further studies the stability of the uncertain delayed neutral-type system by constructing a novel Lyapunov-Krasovskii functional (LKF) with some delay-dependent and N-dependent items. Some new delay-dependent robust stability criteria are proposed based on linear matrix inequality (LMI). The criteria proposed in this paper are less conservative than some recent previous ones. Some numerical

This paper investigates the time-variant state feedback stabilization of constrained delayed Boolean control networks under nonuniform sampled-data control. Firstly, using the augmented algebraic form of constrained delayed Boolean control networks, the constrained nonuniform sampled-data controllability matrix is constructed. Secondly, based on the controllability matrix, a necessary and sufficient

Considering formation control of multi-UAV system subject to input saturation, the issue of achieving predefined configuration in a distributed finite-time event-triggered scheme is investigated. Precise feedback linearization based on differential geometry theory is utilized to linearize the nonlinear motion model of unmanned aerial vehicles. A fixed-time convergent observer is skillfully constructed

This paper proposed an adaptive explicit nonlinear model predictive control (AENMPC) technique using multiple estimation models with a convex combination framework [18] for a class of nonlinear MIMO systems. Here, the explicit solution for the control signal is obtained from an optimal performance index which can be formulated without online optimization. In this work, a closed-form control law is

The desired performance of nonlinear systems by using only proportional-integral-derivative (PID) controllers is difficult to obtain because of its simple structure. To improve the control performance of nonlinear systems, we proposed a PID with a switching action (PIDSA) controller that only adds the switching action of a sliding mode control (SMC) while maintaining the structure of the PID. The PIDSA

This paper investigates the problem of consensus for one kind of sampled-data heterogeneous multi-agent system. We first discretize the continuous-time networked system by the method of sampled-data. Then we use a system transformation to transform the multi-agent system into the reduced-order error system. Two consensus algorithms with and without velocity measurement will be considered respectively

The quadrotor has many potential applications such as infrastructure predictive maintenance in mining tunnels of the railway. In order to navigate through those environments by using the quadrotor drone, there are many challenges such as aerodynamics disturbances, parametric uncertainties, and noise measurements. A robust adaptive global time-varying sliding-mode controller (RAGTVSMC) is proposed to

In this paper, the finite-time synchronization (FTS) of semi-Markov neural networks (S-MNNs) with time-varying delay is presented. According to the Lyapunov stability theory, a mode-dependent Lyapunov-Krasovskii functional (LKF) is constructed. Compared with the traditional static event triggered scheme (ETS), a dynamic ETS is adopted to adjust the amount of data transmission and reduce the network

For a real polynomial p(s) = ansn + ⋯ + a1s + a0, its characteristic ratios are defined by \({\alpha _i}: = {{a_i^2} \mathord{\left/{\vphantom {{a_i^2} {{a_{i - 1}}{a_{i + 1}}}}} \right.\kern-\nulldelimiterspace} {{a_{i - 1}}{a_{i + 1}}}}\) for i = 1, 2, ⋯, n−1, and the generalized time constant is defined by τ ≔ a1/a0. In contrast, every coefficient of the polynomial p(s) can be represented in terms

Proton Exchange Membrane Fuel Cell (PEMFC) are emerging as the new renewable energy source. The output voltage of PEMFC is not sufficient to fulfill the load demands which varies with variations in temperature and load. So, it is integrated with a properly designed power conditioning unit to enhance and stabilize the voltage. In this paper Nexa 1.2 KW PEMFC is initially modeled using successive trust

Due to the nonlinear saturated hysteretic behavior of SMA during the phase transformation, it is not easy to achieve accurate position tracking control by establishing an effective controller for the SMA actuator system. In this paper, an accurate position control method based on fuzzy time delay algorithms for a soft robot is proposed. The error of TDE is unavoidable because the smallest value for

This paper is concerned with the problem of mode dependent H∞ filter for uncertainty Markovian jump system with neutral delay and retarded time-varying delay. By using free weight matrix (FWM) technique, the stability conditions of delay dependent are obtained under the framework of Lyapunov stability theory. Based on those result, the delay dependent conditions for full order and mode dependent Markovian

This paper presents a preflight diagnosis method for detecting multicopter’s motor abnormalities using jig equipment data. While operating multicopters on a regular basis, determining whether it can perform the flight or not is important. For this, we use disturbance observer’s output as a feature for detecting degree of the abnormality by Gaussian process regression. During the ground inspection test

In order to solve the problem of neural network algorithm for aero-engine’s gas path performance evaluation under high-dimensional evaluation index with non-equal weights, the trend analysis method and fault fingerprints are used to mine engine’s gas path performance characteristic parameters. A comprehensive weighting method based on game theory is proposed to optimize the weight value of each gas

This paper is concerned with the problem of input-output finite-time stability (IO-FTS) for a class of switched singular continuous-time systems. First, the concept of IO-FTS is extended to switched singular systems. Then, by using the average dwell time switching approach and constructing multiple Lyapunov functions, a sufficient condition of IO-FTS for the considered system is presented in the form

Automated Guided Vehicles are increasingly used for material transfer in factory and warehouse environments amongst humans and human operated vehicles. Safe and efficient operation is challenging when there is a mix of human and automated traffic as fixed guide paths can become blocked more frequently. In this work we aim to show smooth and efficient paths based on clothoid curves can be used to automatically

In this paper, the event-driven fault tolerant control is investigated for networked switched linear systems subject to actuator failures with asynchronous switching. Firstly, by applying the augmented switching signal technique and event-driven communication scheme, the original systems is established as a closed-loop linear switched systems, and the fault tolerant control is considered for networked

With the development of ultra-high-density optical storage technology, the density of storage media is getting higher and higher, but the increase of the capacity of the optical disk leads to the reduce of the lens-disk interface gap and the tolerance of the focus error dramatically. In the case of extremely small spacing, various external disturbances are highly likely to cause a collision between

Based on a previous theoretical work, this paper focuses on the experimental validation of a sliding mode control (SMC) technique applied to an aerodynamic angular system (AAS). To do so, an aerodynamic experimental platform is presented together with its electronic interface and its closed-loop behavior generated by the aforementioned SMC strategy. The control performance is widely reviewed under

This paper develops Rao-Blackwellized particle filter with asynchronous dependence between system noise and measurement noise. It is pointed out that this dependence affects both the particle filter update step for the nonlinear sub-system and the Kalman filter update step for the conditionally linear sub-system in Rao-Blackwellized particle filter. A de-correlation method is suggested to deal with

This paper provides two finite-time trajectory tracking control schemes for marine surface vessels (MSVs) which are influenced by dynamic uncertainties and unknown time-varying disturbances. Neural networks (NNs) are applied to reconstruct the vehicle’s dynamic uncertainties, and the sum of upper bound of approximation error and external unknown disturbances is estimated by designing an adaptive law

In this paper, a novel approach is proposed for the reduced order modelling of linear time invariant (LTI) systems. The proposed approach is a combination of modified Big bang big crunch (BBBC) optimization algorithm and Pade approximation technique. The beauty of the proposed approach is that the selection of solution space for BBBC algorithm is not entirely random, but structured via the use of Pade