Searched for: subject%3A%22Sliding%255C+Mode%255C+Control%22
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Kaffa, Lauren (author)
Loss of control (LOC) is the primary cause of failure of Unmanned Aerial Vehicles (UAV). The safety of these systems can be largely improved by facilitating techniques to prevent LOC to occur, such as Flight Envelope Protection, enabling controllers to keep the system within the Safe Flight Envelope (SFE).<br/>The aim of this work is to examine...
master thesis 2023
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Liu, L. (author), Shetgaonkar, A.D. (author), Lekić, A. (author)
This paper presents the modular-multilevel-converter (MMC) control interoperability (IOP) and interaction within the High Voltage Direct Current (HVDC)-based power system. IOP is a crucial issue in the large-scale HVDC grid with different suppliers. To accommodate future multi-vendor HVDC grids developments, this article comprehensively...
journal article 2023
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Qi, Jiaming (author), Ma, Guangfu (author), Zhu, J. (author), Zhou, Peng (author), Lyu, Yueyong (author), Zhang, Haibo (author), Navarro-Alarcon, David (author)
The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a...
journal article 2022
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Li, Peng (author), Liu, Di (author), Baldi, S. (author)
Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time...
journal article 2022
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Wang, X. (author), Roy, Spandan (author), Fari, S. (author), Baldi, S. (author)
The high maneuverability of fixed-wing unmanned aerial vehicles (UAVs) exposes these systems to several dynamical and parametric uncertainties, severely affecting the fidelity of modeling and causing limited guidance autonomy. This article shows enhanced autonomy via adaptation mechanisms embedded in the guidance law: a vector-field method is...
journal article 2022
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Aghahadi, Morteza (author), Piegari, Luigi (author), Lekić, A. (author), Shetgaonkar, A.D. (author)
The modular multilevel converter has become a popular topology for many applications in medium and high-power conversion systems such as multi-terminal direct current power systems. In this paper, Modular multilevel converter structure and related equations are presented. Then, control methods for circulating current, output current, and...
conference paper 2022
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Lanka, Indeevar Shyam (author)
Vehicles are becoming increasingly complex and the resource-demanding due to the developments aimed at driving autonomy. Viewing an automobile as a cyber-physical system (CPS), this work applies the advances of controls applied to CPS for improving resource-consumption. One such idea is that of event-based control. Theoretical developments in...
master thesis 2021
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Zhang, Fan (author), Zhou, He (author), Huang, Panfeng (author), Guo, J. (author)
The tethered formation system has been widely studied due to its extensive use in aerospace engineering, such as Earth observation, orbital location, and deep space exploration. The deployment of such a multitethered system is a problem because of the oscillations and complex formation maintenance caused by the space tether's elasticity and...
journal article 2021
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Wang, Xuerui (author), Sun, Sihao (author)
Quad-plane is a popular type of electric vertical and takeoff/landing (eVTOL) vehicle that hybridizes a quadrotor and a fixed-wing airplane. However, the mechanical simplicity of a quad-plane also makes it vulnerable to rotor failures. When a complete rotor fails, it becomes physically impossible to stop the quad-plane from fast yaw spinning,...
journal article 2021
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Pandit, Arvind (author)
Among the trends that are going to shape the automotive industry in the coming years, autonomous vehicles stand out as having the potential to completely change the automotive industry as we know it. One of the critical tasks in this framework includes robust execution of the steering control action to maintain a pre-defined path.<br/><br/>The...
master thesis 2019
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Wang, Xuerui (author)
The swift growth of air traffic volume stresses the importance of flight safety enhancement. Statistical data shows that fly-by-wire technology with automatic flight control systems can effectively reduce the fatal accident rate of loss of control in-flight. Although the dynamics of an aircraft are nonlinear and time-varying, it is common...
doctoral thesis 2019
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Lucassen, Koen (author)
An analysis of attitude controller concepts, including four attitude flight controllers, for the re-entry of the HORUS-2b. The four concerning attitude flight controller concepts are the benchmark Linear Quadratic Regulator (LQR), Model predictive Controller, Incremental Non-linear Dynamic Inversion (INDI) and Sliding Mode Controller. Each...
master thesis 2019
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Wang, Xuerui (author), Sun, S. (author), van Kampen, E. (author), Chu, Q. P. (author)
This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear...
journal article 2019
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Roy, S. (author), Roy, Sayan Basu (author), Lee, Jinoh (author), Baldi, S. (author)
Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it ...
journal article 2019
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author)
This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both...
journal article 2019
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Cao, Z. (author), Dong, J. (author), Wani, F.M. (author), Polinder, H. (author), Bauer, P. (author), Peng, Fei (author), Huang, Yunkai (author)
A novel controller design procedure is proposed for a 5-degree-of-freedom (DOF) active magnetic bearing (AMB) system, based on sliding mode control (SMC) and neural network (NN). The SMC is used to achieve high robustness and fast response while the NN can compensate unmodeled uncertainty and external disturbance by on-line tuning algorithm. The...
conference paper 2019
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Fayazi, Ali (author), Pariz, Naser (author), Karimpour, Ali (author), Hassan HosseinNia, S. (author)
This paper presents a fractional-order sliding mode control scheme equipped with a disturbance observer for robust impedance control of a single-link flexible robot arm when it comes into contact with an unknown environment. In this research, the impedance control problem is studied for both unconstrained and constrained maneuvers. The...
journal article 2018
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Jahanshahi, N. (author), Ferrari, Riccardo M.G. (author)
Platoons of autonomous vehicles are currently being investigated by academic and industrial researchers as a way to increase road capacity and fuel efficiency. In order to fully reach such goals, a platoon must be endowed with cooperative capabilities, such as Cooperative Adaptive Cruise Control (CACC). This technique is based on the vehicles’...
journal article 2018
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Purgat, P. (author)
The flexible power transfer network is a conceptual transfer network for residential areas. The main advantage of the proposed concept is the increased safety and flexibility compared to currently used AC network. The core idea is to incorporate wireless power transfer into the network which leads to inherently safer and more flexible network...
master thesis 2016
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Verdier, C.F. (author)
Ball-balancing robots, or Ballbots, are under-actuated omni-directional mobile robots that balance on top of a single ball. The under-actuated nature arises from the fact that both position and attitude of the robot are actuated by the same actuators. This thesis introduces a geometric approach to the control of ball-balancing robots. In this...
master thesis 2015
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