This article proposes a new adaptive sliding mode repetitive learning control strategy. The proposed controller can obtain satisfactory position tracking performance in the presence of unknown dynamics and external disturbance. The unknown dynamics parameters of the exoskeleton system can be estimated via an adaptive algorithm, which is used to design the sliding mode control law. Besides, the periodic

This article investigates fault detection, isolation and fault-tolerant control for an over-actuated system in hypersonic re-entry vehicle with concurrent actuator faults and disturbance. A series of residuals developed by spatial projection operators is only sensitive to certain faults that can decouple the effects of faults in different directions. Threshold intervals designed through sliding-time

In this work, a Model-Based Control method for a single horizontal degree of freedom shaking table is presented. The proposed approach relies on the real-time inversion of a previously identified linear state-space model of the hydraulic servoactuator which drives the table. The inputs to the model are the control command and the force exerted on servoactuator rod. The latter contains all the relevant

The design of an output-based robust disturbance rejection controller, aimed to solve the state tracking for the articulations of an experimental biped robot, was the main outcome of this study. The robust disturbance rejection controller included an auxiliary hybrid observer entailed to recover the angular velocity for each articulation. The estimated states served to perform the approximation of

Guo L, Li R and Jiang B. An accurate and efficient machine fault diagnosis approach using a recurring broad learning model. Proc IMechE Part I: J Systems and Control Engineering. DOI 10.1177/0959651820936969.

This article is concerned with the synthesis problem of passive mechanical admittances that connect masses in a chain. The mass chain is excited at one boundary point, and the admittances are designed to suppress the disturbance independent of the length of the chain. The scalar transfer functions from the disturbance to a given intermass displacement are studied. The disturbance rejection performance

The problem of sensitivity to uncertainties and disturbances is still a challenging task in the theory of discrete sliding mode controller. In this article, a discrete repetitive adaptive sliding mode control using only input-output measurements of linear time-varying system with periodic disturbances is proposed. A new indirect adaptive algorithm taken into account the periodicity of disturbances

The online identification of rock hardness is the basis to adjust the rotation velocity and swing velocity of cutting head in real time. To effectively identify the hardness of rock around roadway under different cutting conditions, a novel method based on the hydraulic cylinder pressure signal is proposed. Here, we analyze the changing rule of cutting head load under different rock hardness through

In this article, an integrated guidance and control design method for general nonlinear flexible hypersonic flight vehicles in the presence of dynamic uncertainties based on the L1 adaptive state feedback control approach is presented. Initially, the 6-degree-of-freedom integrated guidance and autopilot dynamic model is organized using the combination of flexible uncertain hypersonic flight vehicle

One of the most significant goals of earthmoving equipment is to maximize productivity during loading cycles. A real-time knowledge of the forces exchanged between the machine implement and the surrounding, that is, while digging, can be used in different ways to increase productivity. It can be used to determine the amount of material moved by the machine; or to find the optimal bucket trajectory;

Compared to conventional pumping units with low efficiencies and general hydraulic pumping units using hydraulic accumulators to recover and reuse energy, this article presents a novel multi-source hydraulic pumping unit with the symmetrical structure in order to save energy. First, the balanced mechanical structure through the symmetrical arrangement of double wells can not only decrease the total

Generally, distributed H∞ filtering approach achieves a certain disturbance attenuation level in the full frequency range. However, the energy of system noise or reference input usually limits in a specified frequency range. To reduce such a design conservatism, this article develops a distributed filtering approach based on dual scale, that is, filtering over a finite-time interval from time scale

In the human–computer interaction field, a contactless interaction with large screens through gestures is very representative, and the recognition and filtering of gesture images are very important tasks. Aiming at solving the problems of interference and positioning drift of three-dimensional lidar sensors, this article proposes a contactless interactive control system based on switching filtering

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system

Traditional static threshold–based state analysis methods can be applied to specific signal-to-noise ratio situations but may present poor performance in the presence of large sizes and complexity of power system. In this article, an improved maximum eigenvalue sample covariance matrix algorithm is proposed, where a Marchenko–Pastur law–based dynamic threshold is introduced by taking all the eigenvalues

To boost the circular economy of the electric vehicle battery industry, an accurate assessment of the state of health of retired batteries is essential to assign them an appropriate value in the post automotive market and material degradation before recycling. In practice, the advanced battery testing techniques are usually limited to laboratory benches at the battery cell level and hardly used in

In this article, a novel approach for model-based sensor fault detection and estimation of gas turbine is presented. The proposed method includes driving a state-space model of gas turbine, designing a novel L1-norm Lyapunov-based observer, and a decision logic which is based on bank of observers. The novel observer is designed using multiple Lyapunov functions based on L1-norm, reducing the estimation

To enhance the reliability of wind turbine generation systems that are generally located in the remote area and subjected to harsh environment, we design the pitch angle control for variable speed wind turbines with the function of fault diagnosis and fault tolerance. The main fault targeted in this research is the mechanical wear and possible break of the blade, pitch gear set or shaft, which cause

This article presents a novel method—Dynamic Environment Rapid Search Tree—for power transmission line maintenance robot, which is based on the learned field function of reachability and the genetic best-first policy. Dynamic Environment Rapid Search Tree uses a priori information to optimize the node selection strategy in the rigid–flexible coupling environment with slight perturbation and generates

This article investigates the reliable projective lag synchronization problem for semi-Markovian jumping coupled networks under the master–slave framework. More precisely, a novel mode-dependent memorized synchronization scheme is proposed for the master and slave dynamical networks. By utilizing the Lyapunov-Krasovskii method, sufficient delay-dependent conditions are derived to achieve the reliable

Considering that when a vehicle travels on a low friction coefficient road with high speed, the path tracking ability declines. To keep the performance of path tracking and improve the stabilization under that situation, this article presents approaches to estimate the parameters and control the vehicle. First, the key states of the vehicle and the road adhesion coefficient are estimated by the unscented

This article deals with the problem of robust fractional-order fixed-structure controller design for commensurate and non-commensurate fractional-order interval systems using fractional Kharitonov theorem. The contribution of this study is to develop a simple control methodology to stabilize the fractional-order Kharitonov-defined vortex polynomials. Using the idea of robust stability testing function

This article presents the development of a visual-servo filming robot for dolly & truck style camera movement in filming applications. The robot was implemented with a fast-response slider as the upper stage on top of the slow-response tracked robot body as the lower stage, to improve target tracking performance. A new switching controller was developed, which controlled the stages’ motions by balancing

In this study, an adaptive control based on fuzzy adapting rate for neural emulator of nonlinear systems having unknown dynamics is proposed. The indirect adaptive control scheme is composed by the neural emulator and the neural controller which are connected by an autonomous algorithm inspired from the real-time recurrent learning. In order to ensure stability and faster convergence, a neural controller

Aiming at the adverse effect of the peak power of the electric motor of the battery-powered rail vehicles on the battery life and the driving range when starting or accelerating, a new type of electro-hydrostatic hydraulic hybrid powertrain is designed. This article proposes a novel power form that assists the vehicle to start or accelerate through two power coupling methods: torque coupling circuit

The coupled tanks process is a two input-two output system. It presents a nonlinear behavior and interactions characteristic. After the nonlinear model is obtained, it is linearized around an operating point. A fractional-order proportional–integral–derivative based on the internal model control paradigm (1DOF-IMC-PID-FO) multi-loop controller is determined without considering the interactions, and

This article deals with the optimal robust fault detection problem using the bond graph in its linear fractional transformation form. Generally, this form of the bond graph allows the generation of two perfectly separate analytical redundancy relations, that are used as residual and threshold. However, the uncertainty calculation method gives overestimated thresholds. This may, for instance, lead to

In this article, one of the most recent multilevel converter topologies named packed U-cells is developed for three-phase grid-connected inverter mode using photovoltaic input voltage sources. This topology makes a very important research subject in what concerns the adaptation of multilevel inverters with photovoltaic systems. According to the literature, it is well applicable with the string type

In the digital aircraft assembly system, the large component of aircraft is connected with the numerical control locator through a ball joint composed of a ball head and a ball socket. To ensure the posture adjustment accuracy of large component of aircraft, the clearance between the ball head and the ball socket is very small. Therefore, it is very difficult to accurately guide the ball head of large

The modern advanced aero-engine control methods are onboard dynamic model–based algorithms. In this article, a novel aero-engine dynamic modeling method based on improved compact propulsion system dynamic model is proposed. The aero-engine model is divided into inlet, core engine, surge margin and nozzle models for establishing sub-model in the compact propulsion system dynamic model. The model of

Aiming at the maximum power point tracking for wind turbine, a sensorless intelligent second-order integral sliding mode control based on wind speed estimation is proposed in this article. The maximum wind energy capture is realized by controlling permanent magnet synchronous motor to adjust the speed of wind turbine. First, an intelligent second-order integral sliding mode control is designed for

This article develops a distributed adaptive fault-tolerant formation control scheme for the multiple unmanned aerial vehicles to counteract actuator faults and intermittent communication interrupt, where the issues on control input saturation and mismatched uncertainties are also addressed. The discontinuous communication protocol technique is exploited to achieve the stability of the formation system

At the request of the author, with the agreement of the Journal Editor, the following article has been retracted.

In this article, an adaptive radial basis function neural network scheme for trajectory tracking control of surface vehicles is proposed. Under complex uncertainties, the proposed controller is designed by combining radial basis function neural network and finite-time control algorithm. Using the novel controller, the stability of accurate trajectory tracking can be ensured and the robustness of control

Vernier-gimballing magnetically suspended flywheel is often used for attitude control and interference suppression of spacecrafts. Due to the special structure of the conical magnetic bearing, the radial component generated by the axial magnetic force and the change of the magnetic air gap will cause the nonlinearity of stiffness and disturbance. That will lead to not only poor stability of the suspension

This article focuses on accurate identification of the critical moving characteristics of the high speed on/off valve. Typically, there are two strategies for identifying the critical moving characteristics, including calculation strategy based on force balance and strategy for detecting the coil current’s certain points. However, the accuracy of the two above strategies needs to be improved. Therefore

Model-free adaptive control has been developed greatly since it was proposed. Up to now, model-free adaptive control theory has become mature and tends to be an effective solution for complex unmodeled industrial systems. In practical industrial processes, most control systems are inevitably accompanied by noise that will result in indelible error and may further cause inaccurate feedback to the output

Shape memory alloys are among the highly applicable smart materials that have recently appealed to scientists from various fields of study. In this article, a novel shape memory alloy actuator, in the form of a rod, is introduced, and an adaptive model predictive control system is designed for position control of the developed actuator. The need for such an advanced control system emanates from the

Delta parallel robot is widely used in the manufacturing process of food, medicine, electronics and military industries, which is a highly nonlinear system with strongly uncertain dynamics. Therefore, there are many difficulties in the controller design of delta robot. Based on the simplified dynamic model, a nonlinear PD+ controller with nonlinear disturbance observer is proposed for Delta parallel

This article deals with the distributed filtering problem for a class of discrete-time Markov jump systems over sensor networks. First, in the distributed filtering network, each local filter simultaneously fuses the estimation and measurement from itself and neighboring nodes to achieve the system state estimation. And each sensor intelligent node is embedded with an event-triggered sampling mechanism

This article presents a novel identification approach which can deal with nonlinear and time-varying characteristics of complex dynamic systems, especially an aerial vehicle in the entire flight envelope. A set of local sub-models are first developed at different operating points of the system, and subsequently a self-organizing multi-model ensemble is introduced to aggregate the outputs of the local

In this article, a real-time road-Object Detection and Tracking (LR_ODT) method for autonomous driving is proposed. This method is based on the fusion of lidar and radar measurement data, where they are installed on the ego car, and a customized Unscented Kalman Filter is employed for their data fusion. The merits of both devices are combined using the proposed fusion approach to precisely provide

Some autonomous navigation methods, when implemented alone, can lead to poor performance, whereas their combinations, when well thought out, can yield exceptional performances. We have demonstrated this by combining the artificial potential field and fuzzy logic methods in the framework of mobile robots’ autonomous navigation. In this article, we investigate a possible combination of three methods

This article proposes a new H∞ sliding mode control strategy for stabilizing controller design for fractional-order Markovian jump systems. The suggested approach is based on the diffusive representation of fractional-order Markovian jump systems which transforms the fractional-order system into an integer-order one. Using a new Lyapunov–Krasovskii functional, the problem of H∞ sliding mode control

This article investigates the command filtered adaptive neural tracking control for uncertain nonlinear time-delay systems subject to asymmetric time-varying full state constraints and actuator saturation. To stabilize such a class of systems, the radial basis function neural networks and the backstepping technique are used to structure an adaptive controller. The command filter is utilized to overcome

In view of the problems that the analytical inverse system decoupling method of bearingless induction motor is sensitive to the change of motor parameters and is greatly affected by unmodeled dynamics, and that of traditional proportional–derivative controller lacking the self-adaptive regulation ability, a neural network inverse system decoupling fuzzy self-tuning proportional–derivative control strategy

This article establishes an innovative and general approach for the dynamic modeling and trajectory tracking control of a serial robotic manipulator with n-rigid links connected by revolute joints and mounted on an autonomous wheeled mobile platform. To this end, first the Gibbs–Appell formulation is applied to derive the motion equations of the mentioned robotic system in closed form. In fact, by

In this article, a novel vision-based automatic liquid filling control system is proposed. The method can be used for many high-viscosity liquid filling applications, especially for packaging of fuel tank sealant in the aerospace industry. Due to the high viscosity and highly adhesive properties, filling and packaging this type of liquid can have challenges in terms of time and cost. A new control

Hydropower system has great attention due to the cheapest and simplest renewable power generation, available potential and environmental concern. Francis turbine has wide operating range compare to other hydro turbine runner. Electrohydraulic Francis turbine inlet guide vane system has advantages like, high power density, self-lubrication property, very good controllability and rugged. Francis turbine

Losses in control valves drag down the average overall efficiency of electrohydraulic systems to only about 22% from nearly 75% for standard pump-motor sets. For achieving higher energy efficiency in slower systems, direct pump control replacing fast-response valve control is being put in place through variable-speed motors. Despite the promise of a quicker response, displacement control of pumps has

Most control methods deployed in lower extremity rehabilitation robots cannot automatically adjust to different gait cycle stages and different rehabilitation training modes for different impairment subjects. This article presents a continuous seamless assist-as-needed control method based on sliding mode adaptive control. A forgetting factor is introduced, and a small trajectory deviation from reference

This article presents the control synthesis of robotic manipulators with an unknown constant payload. A novel nonlinear disturbance observer with an adaptive scheme is designed to estimate the external force induced by the unknown constant payload. A general design procedure for designing the gain of the nonlinear observer is developed rather than the time-consuming trials and error to choose proper

This article presents robust stabilization and tracking control problems for multi-input multi-output Hammerstein model with external disturbances. This model is characterized by static nonlinear elements followed by a linear dynamic block. Moreover, the unknown parameters of the identified mathematical model are estimated using the multivariable output error state space subspace algorithm. Unlike

In this study, the problem of finite-time stability and boundedness for parabolic singular distributed parameter systems in the sense of L2 norm is investigated. First, two new results on L2 norm-based finite-time stability and finite-time boundedness for above-mentioned systems, inspired by the light of partial differential equations theory and Lyapunov functional method, are presented. Then, some

In this article, an adaptive neural network is proposed for the tracking control problem of unknown nonlinear interconnected systems with inaccessible states and sensor delays based on dynamic surface strategy. The system has unknown nonlinearities and immeasurable states. Thus, a neural network state observer based on delayed outputs of subsystems is applied. The main difficulty in obtaining local

Control system performance assessment is significant, especially in practical applications. One of the most important indices for the performance assessment of control systems is minimum variance. Calculating the minimum variance index in multivariate systems requires prior knowledge of system parameters and models, and is therefore an obstacle in practical applications. In this article, an index is

This article focuses on the design of event-triggered asynchronous H∞ fault-tolerant controller for Markov jump system subject to actuator faults and external disturbances. The asynchronization phenomenon not only occurs between the controlled system and controller but also exists between the controlled system and faulty actuator, which are portrayed as two corresponding hidden Markov models. Moreover

Raw meal fineness is the percentage content of 80 µm sieving residue after the cement raw material is ground. The accurate prediction of raw meal fineness in the vertical mill system is very helpful for the operator to control the vertical mill. However, due to the complexity of the industrial environment, the process variables have coupling, time-varying delay and nonlinear characteristics in the

Simultaneous localization and mapping is very essential for autonomous navigation when the mobile robot is navigating in unknown environment without a global positioning system. Various techniques to solve the simultaneous localization and mapping problem have been extensively studied using the combination of low-cost sensors. Most of the work in mobile robotics still consists of finding solutions

The dynamic characteristics of reciprocating pump–pipeline system are directly affected by the fluid–mechanism dynamic interaction related to the slider-crank mechanism, valves and pipes conveying fluid. In this article, the fluid–mechanism interaction and nonlinearities involved in the kinetic of slider-crank mechanism, the motions of pump valves and the dynamic transmission in pipeline are explored