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Shiqian Liu, James F. Whidborne, Sipeng Song and Weizhi Lyu
This paper studies the attitude tracking control of a flexible airship subjected to wind disturbances, actuator saturation and control surface faults. Efficient flexible airship models, including elastic deformation, rigid body motions, and their couplin...
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Pu Yang, Ziwei Shen, Yu Ding and Kejia Feng
In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, ac...
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Duansong Wang, Min Kong, Gang Zhang and Xiaoling Liang
The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory is introduced to desc...
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Zefeng Xu, Wenkai Huang, Zexuan Li, Linkai Hu and Puwei Lu
The control strategy proposed to this paper can be applied to the joint position and velocity tracking down industrial robots (series or parallel manipulators). Theoretically, it is suitable for general second-order nonlinear systems, such as inverted pe...
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Lijun Han, Guoyuan Tang, Maolin Cheng, Hui Huang and De Xie
An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where the system is subjected to the lumped disturbances asso...
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Zengcheng Zhou, Guoyuan Tang, Ruikun Xu, Lijun Han and Maolin Cheng
In this paper, the tracking control problem of underwater robot manipulators is investigated under the influence of the lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingul...
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Ronghui Zhang, Kening Li, Zhaocheng He, Haiwei Wang and Feng You
Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS) is proposed based on Nonlinear Model Predictive Algorithm. Considering the nonlin...
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