Adaptive Prescribed Performance Asymptotic Tracking for High-Order Odd-Rational-Power Nonlinear Systems

Practical tracking results have been reported in the literature for high-order odd-rational-power nonlinear dynamics (a chain of integrators whose power is the ratio of odd integers). Asymptotic tracking remains an open problem for such dynamics. This note gives a positive answer to this problem in the framework of prescribed performance...

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this article proposes an event-triggered cooperative synchronization fault-tolerant control (FTC) methodology for multiple fixed-wing UAVs whose dynamics are six-degree-of-freedom (DOF)...

Neural-adaptive constrained flight control for air ground recovery under terrain obstacles

This article contrives a neural-adaptive constrained controller of the cable towed air-ground recovery system subject to terrain obstacles, unmeasurable cable tensions, trailing vortex, wind gust, and actuator saturation. In air-ground recovery system modeling, the towed vehicle's nominal 6 DOF affine nonlinear dynamics and the cable system's...

Distributed Coordinated Control for Fixed-Wing UAVs with Dynamic Event-Triggered Communication

Compared with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this paper proposes an event-based fault-tolerant coordinated control (FTC) for multiple fixed-wing UAVs such that the consensus tracking of velocity and attitude is achieved in the presence...

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing quasi-static assumptions. In this letter, we...

Vision-Based Nonlinear Incremental Control for A Morphing Wing with Mechanical Imperfections

Morphing structures have acquired much attention in the aerospace community because they enable an aircraft to actively adapt its shape during flight, leading to fewer emissions and fuel consumption. Researchers have designed, manufactured, and tested a morphing wing named SmartX-Alpha, which can actively alleviate loads while achieving the...

Unifying Model-Based and Neural Network Feedforward: Physics-Guided Neural Networks with Linear Autoregressive Dynamics

Unknown nonlinear dynamics often limit the tracking performance of feedforward control. The aim of this paper is to develop a feedforward control framework that can compensate these unknown nonlinear dynamics using universal function approximators. The feedforward controller is parametrized as a parallel combination of a physics-based model and...

Sample Regenerating Particle Filter Combined With Unequal Weight Ensemble Kalman Filter for Nonlinear Systems

We present an approach which combines the sample regenerating particle filter (SRGPF) and unequal weight ensemble Kalman filter (UwEnKF) to obtain a more accurate forecast for nonlinear dynamic systems. Ensemble Kalman filter assumes that the model errors and observation errors are Gaussian distributed. Particle filter has demonstrated its...

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. This letter moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors in...

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...

Modeling the nonlinear cortical response in EEG evoked by wrist joint manipulation

Joint manipulation elicits a response from the sensors in the periphery which, via the spinal cord, arrives in the cortex. The average evoked cortical response recorded using electroencephalography was shown to be highly nonlinear; a linear model can only explain 10% of the variance of the evoked response, and over 80% of the response is...

Security Evaluation of the Cyber Networks under Advanced Persistent Threats

Advanced persistent threats (APTs) pose a grave threat to cyberspace, because they deactivate all the conventional cyber defense mechanisms. This paper addresses the issue of evaluating the security of the cyber networks under APTs. For this purpose, a dynamic model capturing the APT-based cyber-attack-defense processes is proposed....

Nonlinear Model Order Reduction using POD/DEIM for Optimal Control of Burgers' Equation

The model-order reduction techniques Proper Orthogonal Decomposition (POD) and Discrete Empirical Interpolation Method (DEIM) have been applied for the optimal control of Burgers' equation. Accuracy and performance of the reduced models have been studied in detail for different values of the viscosity parameter and different sizes of the...

Mechanical stiffening, bistability, and bit operations in a microcantilever

We investigate the nonlinear dynamics of microcantilevers. We demonstrate mechanical stiffening of the frequency response at large amplitudes, originating from the geometric nonlinearity. At strong driving the cantilever amplitude is bistable. We map the bistable regime as a function of drive frequency and amplitude, and suggest several...