Transactions of the Institute of Measurement and Control,
Год журнала:
2024,
Номер
unknown
Опубликована: Дек. 31, 2024
This
paper
further
investigates
the
problem
of
reachable
set
estimation
(RSE)
for
a
class
continuous-time
singular
systems
with
time-varying
delay.
First,
we
use
relaxed
Lyapunov–Krasovskii
functional
to
tackle
RSE
problem.
does
not
need
all
matrices
concerned
be
positive
definite.
In
addition,
novel
weighted
integral
inequality
and
time-delay
partition
approach
are
utilized
reduce
conservatism
in
results.
Based
on
these
methods,
sufficient
conditions
form
linear
matrix
inequalities
established.
Finally,
correctness
validity
results
demonstrated
by
three
simulation
examples.
Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering,
Год журнала:
2025,
Номер
unknown
Опубликована: Янв. 8, 2025
This
paper
presents
an
adaptive
super-twisting
fast
terminal
based
on
disturbance
observer
sliding
mode
control
method
for
the
attitude
tracking
of
a
quadrotor
unmanned
aerial
vehicle
in
presence
mismatched
disturbances.
The
controller
is
formulated
introduced
technique.
utilization
dynamically
gains
controllers
enhances
system’s
robustness
while
reducing
chattering
effects.
Additionally,
non-singular
surface
finite-time
defined.
approach
effectively
addresses
issue
disturbances
accelerating
convergence
error.
stability
analysis
closed-loop
system
established
employing
Lyapunov
function.
Finally,
effectiveness
and
success
proposed
are
validated
through
simulation
experimental
results,
with
further
comparisons
to
other
techniques
terms
performance
robustness.
Actuators,
Год журнала:
2025,
Номер
14(2), С. 89 - 89
Опубликована: Фев. 13, 2025
In
this
paper,
an
advanced
vehicle
way-point
tracking
control
method,
including
kinematic
control,
dynamic
and
obstacle
avoidance
strategy,
is
introduced.
the
part,
a
model
established,
along
with
coordinate
transformation
between
its
target.
A
law
developed
to
optimize
vehicle’s
movement
predefined
way-points.
considering
actual
disturbances
losses
established.
An
observer
compensation
technique
utilized
monitor
mitigate
disturbances,
while
sliding
mode
enhanced
by
HyperSpiral
algorithm,
ensures
accurate
stable
performance.
Furthermore,
tackle
real-world
path
planning
challenges,
improved
obstacle-avoidance
algorithm
generate
effective
way-points
for
navigating
around
obstacles.
Finally,
simulation
results
validate
that
consistently
tracks
target
in
complex
scenarios,
highlighting
robustness
effectiveness
of
proposed
method.
Research Square (Research Square),
Год журнала:
2024,
Номер
unknown
Опубликована: Фев. 8, 2024
Abstract
This
study
presents
a
novel
event-triggered
finite-time
stochastic
control
method
for
robot
manipulator.
The
random
moment
of
inertia
the
manipulator
system
is
expressed
by
building
dynamic
model,
and
parameter
variation
disturbance
estimated
using
configuration
neural
network.
An
controller
with
uncertain
rejection
proposed,
which
not
only
realizes
stability
tracking
error
system,
but
also
guarantees
safety
motion
velocity,
robustly
improves
accuracy
Compared
existing
works,
obvious
feature
proposed
that
it
can
simultaneously
solve
save
communication
resources,
ensure
reach
steady
state
in
finite
time.
We
discuss
effectiveness
method.
Simulation
comparative
analysis
results
further
show
be
updated
less
frequently
while
guaranteeing
robust
performance
Asian Journal of Control,
Год журнала:
2024,
Номер
unknown
Опубликована: Окт. 2, 2024
Abstract
This
paper
proposes
an
adaptive
control
scheme
with
finite‐time
convergent
property
based
on
integral
sliding
mode
to
achieve
trajectory
tracking
of
rigid
robotic
manipulators.
The
novel
gain
can
be
adjusted
automatically
the
system
disturbance,
as
long
disturbance
and
its
derivative
are
bounded
without
requiring
more
information.
Therefore,
chattering
effect
mitigated
obviously.
global
robustness
is
guaranteed
by
Lyapunov
stability
analysis.
Finally,
simulation
a
two‐link
manipulator
given
show
that
desired
performance
obtained
proposed
approach.
