Results 41 to 50 of about 2,821 (185)

Research on Trajectory Tracking of Robotic Fish Based on DBO-Backstepping Control

Journal of Marine Science and Engineering
Advancements in underwater robotic fish have generated new requirements for diverse underwater scenarios, presenting challenges in attaining efficient and precise control, particularly in the realm of classical trajectory tracking.
Huibao Yang, Shuheng Hu, Bangshuai Li, Xiujing Gao, Hongwu Huang   +4 more
doaj   +1 more source

Optimal Homogeneous ℒp$$ {\boldsymbol{\mathcal{L}}}_{\boldsymbol{p}} $$‐Gain Controller

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT Nonlinear ℋ∞$$ {\mathscr{H}}_{\infty } $$‐controllers are designed for arbitrarily weighted, continuous homogeneous systems with a focus on systems affine in the control input. Based on the homogeneous ℒp$$ {\mathcal{L}}_p $$‐norm, the input–output behavior is quantified in terms of the homogeneous ℒp$$ {\mathcal{L}}_p $$‐gain as a ...
Daipeng Zhang, Benjamin Calmbach, Jaime A. Moreno, Johann Reger   +3 more
wiley   +1 more source

Sliding Mode Control in Aerospace Applications: A Survey

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT Sliding mode control (SMC) enjoys robustness to matched and unmatched (in the case of minimum phase input‐output dynamics) bounded perturbations, and finite time convergence. Second‐order and higher‐order sliding mode control systems (2‐SMC/HOSMC) retain all the advantages of sliding mode control, but in addition can be applied to systems of ...
Yuri Shtessel, Christopher Edwards
wiley   +1 more source

Robust Observer-Based Dynamic Sliding Mode Controller for a Quadrotor UAV

IEEE Access, 2018
In this paper, a novel robust backstepping-based approach combined with sliding mode control is proposed for trajectory tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties associated with the presence of aerodynamic ...
Nuradeen Fethalla, Maarouf Saad, Hannah Michalska, Jawhar Ghommam   +3 more
doaj   +1 more source

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Journal of Control Science and Engineering, 2020
An adaptive backstepping sliding mode controller combined with a nonlinear disturbance observer is designed for trajectory tracking of the electrically driven hybrid conveying mechanism with mismatched disturbances.
Wei Yuan, Guoqin Gao, Jianzhen Li
doaj   +1 more source

High‐Order Sliding‐Mode control for MIMO Systems

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT This paper extends Lyapunov‐based homogeneous high‐order sliding‐mode control to a class of uncertain non‐square multi‐input multi‐output (MIMO) nonlinear systems with a well‐defined vector relative degree. The considered systems admit a normal‐form representation with an uncertain but full‐row‐rank input‐gain matrix.
Jaime A. Moreno, Angel Mercado‐Uribe
wiley   +1 more source

Finite-Dimensional Backstepping Controller Design

IEEE Transactions on Automatic Control
Accepted to IEEE Transactions on Automatic Control, 28 pages, 2 ...
Varga K. Kalantarov, Türker Özsari, Kemal Cem Yilmaz   +2 more
openaire   +3 more sources

Backstepping controller synthesis and characterizations of incremental stability [PDF]

Systems & Control Letters, 2013
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability, Lyapunov functions and contraction metrics play important roles in the study of incremental stability.
Majid Zamani 0001, Nathan van de Wouw, Rupak Majumdar   +2 more
openaire   +3 more sources

Deep Reinforcement Learning‐Based Control for Real‐Time Hybrid Simulation of Civil Structures

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT Real‐time Hybrid Simulation (RTHS) is a cyber‐physical technique that studies the dynamic behavior of a system by combining physical and numerical components that are coupled through a boundary condition enforcer. In structural engineering, the numerical components are subjected to environmental loads that become dynamic displacements of the ...
Andrés Felipe Niño, Alejandro Palacio‐Betancur, Piedad Miranda‐Chiquito, Juan David Amaya, Christian E. Silva, Mariantonieta Gutierrez Soto, Luis Felipe Giraldo   +6 more
wiley   +1 more source

Control of blood glucose induced by meals for type-1 diabetics using an adaptive backstepping algorithm

Scientific Reports, 2022
In this study, an adaptive backstepping method is proposed to regulate the blood glucose induced by meals for type-1 diabetic patients. The backstepping controller is used to control the blood glucose level and an adaptive algorithm is utilized to ...
Rasoul Zahedifar, Ali Keymasi Khalaji
doaj   +1 more source