Article
Automation & Control Systems
Qianghui Zhou, Lu Liu, Gang Feng
Summary: This paper investigates the robust stabilization problem of a class of uncertain Lipschitz nonlinear systems with infinite distributed input delays. A novel robust predictor feedback controller is proposed, and the controller gain can be obtained by solving a linear matrix inequality. It is shown that the proposed controller can exponentially stabilize the concerned system globally. The key contribution of this approach lies in the development of new quadratic Lyapunov functionals. The obtained results are generalized to systems with both multiple constant input delays and infinite distributed input delays.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Multidisciplinary
Shuning Niu, Wu-Hua Chen, Xiaomei Lu
Summary: This paper addresses the problem of sliding mode control for linear uncertain impulsive systems with time delays and matched disturbances. A novel SMC scheme based on an integral-type sliding function and impulse regulation is proposed, and a linear delayed state feedback control law is introduced to stabilize the resulting sliding mode dynamics. The desired switching gains are obtained through convex optimization, and the theoretical results are validated in a practical application with various impulse inputs.
APPLIED MATHEMATICAL MODELLING
(2023)
Article
Automation & Control Systems
Hamid Badruh, Valiollah Ghaffari, Amin Torabi Jahromi
Summary: In this article, a control technique based on linear matrix inequality (LMI) is used to design a robust integral composite nonlinear feedback (CNF) controller in order to enhance the transient performances in constrained uncertain systems. By considering inputs limitations and uncertainties, the regulation problem is transformed into an optimization problem subject to multiple LMIs. Real-time optimization is employed to calculate the gains of the controller, effectively handling regulation and disturbance rejection. Simulations demonstrate the applicability of the robust integral CNF control law in uncertain systems.
OPTIMAL CONTROL APPLICATIONS & METHODS
(2023)
Article
Automation & Control Systems
Hadi Azmi, Alireza Yazdizadeh
Summary: In this article, a novel sliding mode control strategy is proposed for nonlinear Lipschitz systems with multiple and dissimilar time delays in the states and inputs. The approach utilizes linear matrix inequality and Lyapunov-Krasovskii's theory to ensure system stability and attenuate the effects of actuator faults. Simulation results demonstrate the outstanding performance of the proposed method.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Mathematics
Masoud Chatavi, Mai The Vu, Saleh Mobayen, Afef Fekih
Summary: This paper proposes a nonlinear state feedback controller based on linear matrix inequality (LMI) for handling nonlinear systems with parametric uncertainties and external disturbances. The proposed controller aims to ensure system stability and performance in the presence of uncertainties and time-dependent disturbances. Through mathematical derivation and simulation experiments, the effectiveness and performance of the controller are verified.
Article
Automation & Control Systems
En Lu, Wei Li, Shibo Wang, Wuguo Zhang, Chengming Luo
Summary: The paper proposes a disturbance rejection control method for low-speed high-torque PMSM, which combines a robust speed controller and a load observer to address uncertainties and unknown external interferences in the system.
Article
Engineering, Multidisciplinary
B. Yazdankhoo, F. Najafi, M. R. Hairi Yazdi, B. Beigzadeh
Summary: This study addresses the problem of position tracking in teleoperation systems with latencies and dynamical uncertainties. The synchronization of positions may be undermined by the need for safe interaction with the external environment, such as in telesurgery. A state-feedback controller based on L1 theory is proposed, which is robust to asymmetric randomly varying time delays in the communication channels. Simulation results show that the L1-based controller outperforms the well-known sliding mode controller in terms of maximum error while maintaining low steady-state error, and it is effective even in the presence of model uncertainties.
Article
Automation & Control Systems
Zhonghua Wu, Shuaipeng Zheng, Yunji Zhao, Bojun Liu, Junkang Ni
Summary: This paper proposes a fixed-time composite neural learning control scheme for nonlinear strict feedback systems experiencing unknown dynamics and state constraints. By introducing a new unified universal barrier Lyapunov function and an improved fixed-time convergence state predictor, the learning ability of neural networks is enhanced and potential problems in fixed-time back stepping designs are addressed.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Computer Science, Information Systems
Leyli Saboktakin Rizi, Saleh Mobayen, Mohammad Taghi Dastjerdi, Valiollah Ghaffari, Andrzej Bartoszewicz, Wudhichai Assawinchaichote
Summary: This study proposes a composite nonlinear feedback approach for the robust tracking control problem of uncertain nonlinear systems. The approach includes a linear feedback portion to change the damping ratio and a nonlinear feedback controller to enhance tracking and reduce overshoot. The performance of the approach is evaluated using simulation studies and offers less-restrictive assumptions, improved transient performance, and steady-state precision.
Article
Automation & Control Systems
Congran Zhao, Wei Lin
Summary: This article investigates global asymptotic stabilization (GAS) for a family of nonlinear systems with delays using memoryless state and/or output feedback. By applying the Lyapunov-Krasovskii stability theorem and feedback domination design method, a set of Lyapunov-Krasovskii functionals and controllers are constructed to achieve GAS for closed-loop systems with delays. Extensions to nonlinear systems with inverse dynamics are also considered in the study.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Engineering, Mechanical
Yu-Zhuo Zhao, Dan Ma, Ying-Wei Zhang
Summary: This paper proposes adaptive control strategies for nonstrict-feedback uncertain nonlinear high-order fully actuated (HOFA) systems with uncertain constant delay or time-varying delay. The uncertain nonlinear function in the HOFA systems contains nonstrict feedback form and time delay in system states, making it difficult. The arbitrary approximation property of radial basis function neural network (RBF NN) is used to estimate the unknown nonlinear functions, and the nonstrict-feedback form is transformed into strict-feedback structure using Gaussian function. Lyapunov-Krasovskii functions and separation techniques are used to compensate for the effect of unknown constant time delay or time-varying delay. Two adaptive NN controllers are proposed to stabilize the system with constant time-delay and time-varying delay asymptotically.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Ke Shao
Summary: This paper introduces a nested adaptive integral terminal sliding mode control scheme for high-order uncertain nonlinear systems, which eliminates the reaching phase and stabilizes the system in finite time. The proposed method achieves finite-time origin convergence without reaching phase, nonoverestimation, nonsingular and chattering-free control signal, providing advantages over conventional methods.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Acoustics
Jiyuan Hu, Valiollah Ghaffari, Saleh Mobayen, Jihad H. Asad, Mai The Vu
Summary: A robust composite nonlinear feedback control method is proposed for time-delayed uncertain systems, solving the tracking problem by considering system limitations. Controller parameters are determined through a solution for linear matrix inequality, and numerical simulation demonstrates the efficiency of the method.
JOURNAL OF VIBRATION AND CONTROL
(2022)
Article
Automation & Control Systems
Jie Kong, Ben Niu, Zhenhua Wang, Ping Zhao, Wenhai Qi
Summary: This paper investigates adaptive output-feedback neural tracking control for uncertain switched MIMO nonstrict-feedback nonlinear systems with time delays. Neural networks and hypothesis are used to handle unknown factors, and an adaptive neural controller is constructed for each subsystem. It is proven that all signals and system outputs are bounded under arbitrary switching.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)
Article
Mathematics, Applied
Cuong M. Nguyen, Chee Pin Tan, Hieu Trinh
Summary: This paper investigates the simultaneous reconstruction of states and delays for nonlinear systems subject to input delays. The proposed method based on sliding mode observer effectively estimates state and identifies unknown delays without assumptions on differentiability of delays, and eliminates the need for the minimum phase condition required in traditional schemes. The effectiveness of the method is demonstrated through a numerical example.
APPLIED MATHEMATICS AND COMPUTATION
(2021)
Article
Acoustics
Quanmin Zhu, Saleh Mobayen, Hamidreza Nemati, Jianhua Zhang, Wei Wei
Summary: This study proposes a U-control-based Composite Nonlinear Feedback (U-CNF) design procedure that establishes a double feedback loop framework for generalisation and simplification in designing CNF control systems. The U-CNF control is applicable to nonaffine nonlinear dynamic systems, model-free, and robust against model uncertainty and external disturbance.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Aerospace
Jianghua Wang, Khalid A. Alattas, Yassine Bouteraa, Omid Mofid, Saleh Mobayen
Summary: An adaptive command-filtered backstepping sliding mode control scheme is proposed for finite-time tracking control of quad-rotor UAV system under modeling uncertainties and external disturbances.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Multidisciplinary
Maryam Jafari, Saleh Mobayen, Farhad Bayat, Hubert Roth
Summary: The design of swing and stance control for path following of a prosthetic leg robot subject to uncertain dynamics and exterior disturbances is a serious issue. This paper proposes two novel finite-time controllers to address the control problems in the swing and stance phases, and the simulation results verify their effectiveness.
APPLIED MATHEMATICAL MODELLING
(2023)
Article
Mathematics
Muhamad Deni Johansyah, Aceng Sambas, Saleh Mobayen, Behrouz Vaseghi, Saad Fawzi Al-Azzawi, Ibrahim Mohammed Sulaiman
Summary: This work focused on the complex behaviors of a fractional-order financial chaotic system and enriched the results presented in a previous study. The study analyzed the dynamical behaviors and stability of the system and confirmed its stability under typical parameters. MATLAB simulations were used to characterize the system's properties.
Article
Multidisciplinary Sciences
Mostafa Barghandan, Ali Akbar Pirmohamadi, Saleh Mobayen, Afef Fekih
Summary: This work proposes an optimal adaptive barrier-function-based super-twisting sliding mode control scheme for the trajectory tracking control of parallel robots with highly-complex dynamics in the presence of uncertainties and external disturbances. The globality of the proposed controller guarantees the elimination of the reaching phase and the existence of the sliding mode around the surface right from the initial instance. The performance and efficiency of the controller is assessed using simulation study of a Stewart manipulator and an experimental evaluation on a 5-bar parallel robot.
Article
Automation & Control Systems
Yassine Bouteraa, Khalid A. Alattas, Tongrui Peng, Afef Fekih, Reza Rahmani, Saleh Mobayen
Summary: We developed a novel method for nonlinear teleoperation systems based on a robust adaptive fuzzy control approach. Our method aims to ensure system stability and mitigate uncertainties caused by external disturbances and un-modelled dynamics. Instead of directly transmitting environmental torque signals, we transmit approximated environmental parameters to the master side, successfully solving the passivity problem in the teleoperation system. Theoretical analysis and simulation results demonstrate the efficiency of our approach in achieving stability and tracking objectives for uncertain nonlinear teleoperation systems.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Automation & Control Systems
Abbas Nemati, Mansour Peimani, Saleh Mobayen, Sayyedjavad Sayyedfattahi
Summary: This article introduces a new technique of adaptive terminal sliding mode (TSM) control for the stabilization of cyber-physical systems (CPSs) in finite time. The proposed nonlinear sliding surface eliminates the reaching mode and improves the overall robustness of the system. The adaptive laws used in this approach handle cyber-attacks and external disturbances without needing to recognize their upper bounds, making it more flexible in real-world performance. The presented adaptive TSM control technique guarantees system robustness against cyber-attacks and external disturbances, while also eliminating chattering behavior through the use of a hyperbolic tangent function and continuous adaptive parameters in the control law.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2023)
Article
Automation & Control Systems
Abbas Nemati, Mansour Peimani, Saleh Mobayen, Sayyedjavad Sayyedfattahi
Summary: This study proposes a novel strategy of adaptive non-singular second-order terminal sliding mode control for the finite time stabilization of cyber-physical systems (CPSs). By utilizing a nonlinear sliding surface, the reaching phase is eliminated and the overall robustness of the system is improved. The proposed online adaptive laws handle unwanted disturbances and cyber-attacks without the need to identify their upper bounds, ensuring strong robustness of CPSs.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2023)
Article
Automation & Control Systems
Zeinab Echreshavi, Mohsen Farbood, Mokhtar Shasadeghi, Saleh Mobayen
Summary: This study proposes a reliable fuzzy static-output feedback control scheme for uncertain Takagi-Sugeno fuzzy model-based nonlinear systems under the presence of network induced delays, information package losses, and actuator faults. The study suggests a comprehensive model for actuator faults in networked control systems and employs the Markov chain to model the delays and losses. The stochastic robust stability of the system is analyzed based on Lyapunov theory, and necessary conditions are obtained using offline linear matrix inequalities. Simulation results on a truck-trailer system validate the superiority of the proposed control approach.
Article
Automation & Control Systems
Haoping Wang, Omid Mofid, Saeed Amirkhani, Saleh Mobayen, Mai The Vu
Summary: In this paper, an adaptive concave barrier function scheme coupled with the non-singular terminal sliding mode control technique is proposed for finite-time tracking control of the under-actuated nonlinear system in the existence of model uncertainty, external disturbance, and input saturation. The proposed control method consists of several steps, including the design of a compensation system to overcome input saturation, the definition of tracking errors and sliding surface, the adoption of a prescribed performance control scheme, and the use of adaptive-based concave barrier function technique for model uncertainty and external disturbance compensation. The effectiveness of the proposed control method is demonstrated through simulations and experimental implementation on an air levitation system.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Automation & Control Systems
Mohsen Farbood, Zeinab Echreshavi, Mokhtar Shasadeghi, Saleh Mobayen
Summary: This paper proposes an event-triggered integral sliding mode control (ISMC) for perturbed nonlinear Takagi-Sugeno (TS) fuzzy systems. A disturbance observer is designed to estimate and reduce the unmatched disturbances. Two types of sliding surfaces are established to reduce computational burden and communication resources. The proposed control scheme ensures system performance enhancement and Zeno-free behavior.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Computer Science, Information Systems
Mohsen Farbood, Zeinab Echreshavi, Mokhtar Shasadeghi, Saleh Mobayen, Pawel Skruch
Summary: This paper introduces a new data-driven MPC structure based on two offline and online parts to achieve the robust and constrained performance in an optimal scheme. The first step is to design an offline data-driven controller based on the model matching condition for tracking performance. Additionally, a data-driven-based disturbance observer is presented to estimate the external disturbance in the offline procedure.
Article
Computer Science, Information Systems
Hamede Karami, Ngoc Phi Nguyen, Hamid Ghadiri, Saleh Mobayen, Farhad Bayat, Pawel Skruch, Fatemeh Mostafavi
Summary: This paper investigates the simultaneous design of a controller and Luenberger state observer for systems with various uncertainties. The state-feedback control and state-observer existence conditions are formulated using Linear Matrix Inequalities (LMIs). By defining the estimation error, the equations of the closed-loop system are rewritten. Simulation results on two examples demonstrate the effectiveness and reliability of the proposed approach.
Article
Engineering, Multidisciplinary
J. Mostafaee, S. Mobayen, B. Vaseghi, M. Vahedi
Summary: This study presents a new 5D nonlinear hyper-chaotic system and analyzes its standard behaviors. It also proposes a Fast Terminal Sliding Mode Control (FTSMC) scheme for the control and synchronization of the system. The new controller demonstrates high performance and finite-time stability. MATLAB simulations confirm the results.
Article
Computer Science, Information Systems
Yousef Niazi, Amirhossein Rajaei, Vahid Moradzadeh Tehrani, Mokhtar Shasadeghi, Saleh Mobayen, Pawel Skruch
Summary: This paper presents a voltage boost switched-capacitor multi-level inverter (SCMLI) structure based on Current-fed Dickson Voltage Multiplier (CFDVM) that allows control of voltage gain. The structure limits capacitor peak current and increases voltage gain compared to other SCMLIs, while high frequency operation reduces capacitor size. The SCMLI exhibits same output impedance at all voltage levels and utilizes Selective Harmonic Elimination (SHE) technique for improved output power quality.
