Article
Engineering, Civil
Gao Feng, Dongfang Dang, Yingdong He
Summary: This paper proposes a coordinated control scheme for a platoon of nonlinear and heterogeneous automated vehicles (AVs) to deal with uncertain interaction topology, parametric errors, and external disturbances simultaneously. The scheme uses sliding mode control theory to separate different perturbations and designs a distributed coordinated controller for each AV considering their individual dynamics.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Jianshan Zhou, Daxin Tian, Zhengguo Sheng, Xuting Duan, Guixian Qu, Dongpu Cao, Xuemin Shen
Summary: A novel decentralized robust control approach is proposed in this paper to address the external disturbances in vehicle platooning. By combining a super-twisting second-order sliding mode strategy and a disturbance observer, a super-twisting SOSMDO platoon controller is designed, and the theoretical analysis proves its convergence and stability.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Yahui Xu, Zhengchao Xie, Jing Zhao, Wenfeng Li, Panshuo Li, Pak Kin Wong
Summary: This paper investigates the problem of non-fragile H-infinity control for uncertain active suspension systems with time-delay using a fuzzy control approach in the finite frequency domain. A T-S fuzzy model is constructed, and a sufficient condition is presented to ensure stability and desired performance simultaneously, which is further transformed into a convex optimization problem. Numerical simulations demonstrate the effectiveness and performance advantages of the proposed control approach.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Automation & Control Systems
Jie Lian, Can Li
Summary: This article discusses the application of sliding mode control in stabilizing switched linear systems with external disturbances and uncertain nonlinearities. It introduces state sampling using an event-triggered mechanism and control strategies based on limited information, addressing challenges such as quantization error and mismatched control. The proposed method includes a dynamic quantization policy and switching law to ensure convergence of state trajectory, with potential applications in controlling single-link manipulators.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Zhangmin Huang, Chenchen Sun
Summary: In order to achieve excellent tracking performance of dynamic systems under uncertain disturbances, an adaptive dynamic global robust sliding mode control (ADGRSMC) approach is devised in this paper. A novel global robust sliding manifold is designed by integrating an auxiliary function into a proportional-integral-derivative (PID) type sliding structure, which can omit the reaching stage, achieve global robustness, and perform fast transient response and suppress steady state errors. A dynamic nonsingular terminal sliding structure is also conceived to attenuate chattering phenomena without deteriorating the tracking accuracy and robustness property. Furthermore, a novel adaptive law is developed to adjust the switching gain, so that the prior information of perturbations is unnecessary and the chattering effect can be further alleviated. The finite time stability of the adopted ADGRSMC approach is proven according to the Lyapunov stability theory, and its superiority is validated through comparative simulation studies.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
Article
Energy & Fuels
Yaser Toghani Holari, Seyed Abbas Taher, Majid Mehrasa
Summary: This paper synthesizes input-output feedback linearization and sliding mode controller for a hybrid AC/DC microgrid system to provide an optimal coordinated performance strategy for power electronic converters. The operation of two DC/AC converters in the hybrid microgrid is enriched through dynamic model completion and control ability promotion in islanding mode.
JOURNAL OF ENERGY STORAGE
(2021)
Article
Automation & Control Systems
Amanda Spagolla, Alvaro A. Lemaire, Cecilia F. Morais, Ricardo C. L. F. Oliveira, Pedro L. D. Peres
Summary: This paper addresses the problems of H-2 and H-∞ control design for positive continuous-time linear systems with uncertain parameters. It proposes a method based on linear matrix inequalities to obtain stabilizing gain and H-2 (or H-∞) guaranteed cost. The method allows for independent optimization of the gain and the Lyapunov matrix, and does not require a diagonal structure on the matrix used to enforce closed-loop positivity.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Automation & Control Systems
Jie Zhang, Da -Wei Ding, Yingying Ren, Xinmiao Sun
Summary: This paper investigates the distributed robust group output synchronization problem of heterogeneous uncertain linear leader-follower multi-agent systems. A new group synchronization framework based on output regulation technique is proposed to achieve cooperative tracking with multiple targets. The paper introduces a distributed exosystem observer based on the algebraic Riccati inequality to obtain the information of exosystems. Additionally, the paper presents distributed control laws, including dynamic state feedback control protocol under an acyclic directed graph and dynamic output feedback control protocol under a general directed graph, to compensate for parameter uncertainties.
Article
Mathematics, Interdisciplinary Applications
Yang Wang, Mingshu Chen, Yu Song
Summary: This paper proposes a novel robust fixed-time control for robot manipulator system with uncertainties, proving the fixed-time stability of the closed-loop system. The method extends existing fixed-time IDC to a robust control scheme and is strictly nonsingular, demonstrating its effectiveness through simulation results.
Article
Automation & Control Systems
Jun Zhao, Yongfeng Lv
Summary: In this article, two online learning techniques are developed to address the output-feedback robust control problem of systems with uncertain dynamics. An equivalence is constructed between the robust control problem of uncertain systems and the optimal control problem of nominal systems. An output algebraic Riccati equation (OARE) is constructed using its state-feedback control counterpart, and online learning is realized through this equation. An online policy learning algorithm based on state reconstruction is presented to obtain the online solution of the OARE, and a novel online PL method is designed to relax the requirement on system internal states.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Computer Science, Artificial Intelligence
Yongxu He, Yuxin Zhao
Summary: This article proposes a novel adaptive robust control strategy based on Gaussian processes (GPs) for precise tracking of uncertain Euler-Lagrange (EL) systems with time-varying external disturbances. The strategy utilizes GP regression to obtain a nonparametric uncertainty model and employs adaptive sliding mode control to compensate dynamically using the posterior means of GPs and adjust feedback gains using posterior variances. An adaptive law for updating hyperparameters based on tracking error feedback is presented to improve both tracking control and GP modeling performance. Simulation results validate the effectiveness of the proposed strategy.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2022)
Article
Automation & Control Systems
Jieshuai Wu, Maobin Lu, Fang Deng, Jie Chen
Summary: This article investigates the robust output regulation problem of the linear uncertain system using the event-triggered control approach. In contrast to previous methods, a class of event-triggered control laws is developed to achieve exact output regulation while explicitly excluding the Zeno behavior for all time.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Quan-Yong Fan, Hongru Jiang, Xuekui Song, Bin Xu
Summary: This paper investigates the composite robust control problem of uncertain nonlinear systems with unmatched disturbances. To improve robust control performance, the integral sliding mode control method is combined with Hoo control for nonlinear systems. A disturbance observer with a new structure is designed to obtain disturbance estimations with small errors, which are then used to construct sliding mode control policy and avoid high gains. The guaranteed cost control problem of nonlinear sliding mode dynamics is considered, and a modified policy iteration method based on sum of squares is proposed to solve the Hoo control policy. Simulation tests verify the effectiveness of the proposed robust control method.
Article
Automation & Control Systems
Aldo Jonathan Munoz-Vazquez, Vicente Parra-Vega, Anand Sanchez-Orta, Oscar Martinez-Fuentes
Summary: This paper proposes a novel disturbance observer-based state feedback controller that can compensate a wider class of fractional-order unknown inputs. The controller, with a fractional PI-like structure, provides precise conditions for feedback gain tuning and robustness for tracking tasks.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Automation & Control Systems
Liang Yu, Pengyuan Li, Xi-Ming Sun
Summary: This article investigates the output constrained control problem of uncertain nonlinear systems subject to magnitude and rate saturation. A novel output constrained controller is proposed based on the antiwindup approach and the active disturbance rejection control technique, ensuring stability and preventing output limit violation. An optimization algorithm is presented for antiwindup gain computation, guaranteeing a maximized admissible set of initial states and local asymptotic stability. The proposed method is successfully applied to aircraft engine control based on a semiphysical platform, with experimental results validating its effectiveness.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2021)
Article
Automation & Control Systems
L. T. Aguilar, R. Ramirez-Villalobos, A. Ferreira de Loza, L. N. Coria
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2020)
Article
Energy & Fuels
Marcelino Sanchez, Sebastien Delprat, Theo Hofman
Article
Automation & Control Systems
Marcelino Sanchez, Jorge Alvarez, Sebastien Delprat, Miguel Bernal
Summary: This paper introduces a novel control technique for automated lane keeping of a vehicle, which utilizes exact fuzzy modelling of bounded parametric uncertainties and parameter-dependent Lyapunov analysis. The proposed technique has shown to increase the feasibility of synthesizing a robust steering control law compared to designs based solely on Lyapunov.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2021)
Article
Computer Science, Artificial Intelligence
Sebastien Delprat, Jorge Alvarez, Marcelino Sanchez, Miguel Bernal
Summary: This article introduces a novel methodology for exact convex rewriting of nonlinear systems, which can enhance the capabilities of control systems research based on polytopes and the direct Lyapunov method. By tighter fitting of interdependent nonlinearities, it effectively improves the feasibility of analysis and design while maintaining conditions in the form of linear matrix inequalities.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Engineering, Electrical & Electronic
Sebastien Delprat, Mohamed Riad Boukhari
Summary: This paper investigates the predictive Equivalent Consumption Minimization Strategy for hybrid vehicle energy management. It formulates the energy management as a receding optimization problem to determine torque split between the internal combustion engine and electric machine. By exploiting the slow dynamic distribution and rational tuning of algorithm parameters, the strategy allows for controlling state of charge and achieving low fuel consumption.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Engineering, Aerospace
David Henry, Jazmin Zenteno-Torres, Jerome Cieslak, Alejandra Ferreira De Loza, Jorge Davila
Summary: The article evaluates the potential of sliding-mode control and estimation techniques in addressing various actuator faults, proposing a fault-tolerant control architecture based on dual quaternion formalism. The solution ensures system stability through a feedback saturation strategy and a generalized super-twisting control algorithm, covering different types of thruster faults.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Automation & Control Systems
Roberto Franco, Alejandra Ferreira de Loza, Hector Rios, Louis Cassany, David Gucik-Derigny, Jerome Cieslak, David Henry, Loic Olcomendy
Summary: The research applied an output feedback continuous twisting algorithm to regulate blood glucose in critically ill patients with type 1 diabetes, achieving normoglycemia without meal announcements and alleviating workload at the ICU. The algorithm's gains were set using a criterion that could be used for individualizing insulin therapy. Validation in a metabolic simulator showed excellent performance and minimal risk of hyperglycemic and hypoglycemic events.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Automation & Control Systems
Roberto Franco, Hector Rios, Alejandra Ferreira de Loza, Louis Cassany, David Gucik-Derigny, Jerome Cieslak, David Henry
Summary: An adaptive observer is designed for patients with Type 1 Diabetes Mellitus in this article. The adaptive observer simultaneously estimates the states and the parameter corresponding to the insulin-independent glucose disappearance rate using the Bergman's Minimal Model. The adaptive observer deals with parameter uncertainties and treats food intake as an external disturbance. The synthesis of the adaptive observer is based on a constructive method using linear matrix inequalities. Simulation results and validation in a metabolic simulator demonstrate the feasibility of the proposed scheme.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Roberto Franco, Hector Rios, Alejandra Ferreira de Loza, Denis Efimov
Summary: This article presents a robust nonlinear model reference adaptive control (MRAC) method for disturbed linear systems, which can address parameter uncertainties, disturbances, and nonlinear unmodeled dynamics. Simulation results show that this method has a faster convergence rate compared to traditional MRAC.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Automation & Control Systems
Roberto Franco, Hector Rios, Alejandra Ferreira de Loza
Summary: This article presents a finite-time model reference adaptive control approach to address the robust tracking problem for a class of disturbed scalar linear systems. The proposed method, based on nonlinear adaptive gains, ensures a finite-time convergence rate. The convergence proofs and robustness analysis are established using Lyapunov function approach, input-to-state stability theory, and homogeneity theory. Simulation and experimental results demonstrate the feasibility of the proposed scheme.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2022)
Article
Automation & Control Systems
Hector Rios, Roberto Franco, Alejandra Ferreira de Loza, Denis Efimov
Summary: In this paper, a high-order sliding-mode adaptive observer is proposed for the adaptive estimation of a class of uncertain nonlinear systems in the presence of external disturbances. The proposed approach does not require the satisfaction of a relative degree condition equal to one. The convergence of the adaptive estimation error, despite the external disturbances, is guaranteed through the small-gain theorem. The performance of the proposed high-order sliding-mode adaptive observer is demonstrated through simulation results.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Editorial Material
Automation & Control Systems
Hector Rios, Alejandra Ferreira de Loza, Jorge Davila
Summary: This special issue presents new developments and results in the theory and practice of sliding-mode algorithms for state estimation and fault diagnosis, including advanced and non-standard methods for fault-tolerant control.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
A. Ferreira deLoza, J. A. Ortega-Perez, L. T. Aguilar, R. Galvan-Guerra
Summary: The manuscript proposes a strategy for robust orbital stabilization of disturbed Euler-Lagrange systems with underactuation. High-order sliding-mode extended observer is used to estimate the state and disturbances. A new set of coordinates, called virtual holonomic constraints, is utilized to transform the system into a double integrator with specific zero dynamics, enabling the stabilization of a linear time-varying system. The feasibility of the method is illustrated experimentally in a cart-pendulum system.
NONLINEAR ANALYSIS-HYBRID SYSTEMS
(2023)
Article
Automation & Control Systems
Carlos Armenta, Sebastien Delprat, Rudy R. Negenborn, Ali Haseltalab, Jimmy Lauber, Michel Dambrine
Summary: This letter introduces the classical implementation of Pontryagin's Minimum Principle and its improved version. By relaxing the tolerance on intermediate steps, the number of iterations is reduced, resulting in a more efficient computation. Numerical simulations are conducted to validate the benefits of the proposed approach.
IEEE CONTROL SYSTEMS LETTERS
(2022)
Proceedings Paper
Automation & Control Systems
Adonai Rosas-Vilchis, Alejandra Ferreira de Loza, Luis T. Aguilar, Jerome Cieslak, David Henry, Oscar Montiel-Ross
2020 28TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)
(2020)
