Article
Engineering, Chemical
Qiang Zhang, Ping Liu, Yu Chen, Quan Deng, Angxin Tong
Summary: This paper addresses the trajectory tracking control problem for general nonlinear single-input single-output systems. By employing the input-output feedback linearization technique and designing a finite-time disturbance observer-based terminal sliding mode controller, the tracking performance and robustness are improved. The stability analysis is carried out using the Lyapunov method. A boundary layer method is adopted to trade-off between high-frequency control actions and bounded nonzero steady-state error. The proposed method is evaluated through comprehensive numerical simulations and compared to state-of-the-art methods, showing superior performance in terms of disturbance rejection, fast reaction, and small tracking error without high-frequency chattering.
Article
Engineering, Mechanical
Chen Ding, Shihong Ding, Xinhua Wei, Keqi Mei
Summary: This paper develops output feedback sliding mode control methods for the path-tracking control system of autonomous agricultural vehicles. By introducing coordinate transformation and using second-order robust exact differentiator, the path-tracking control is achieved. Traditional first-order sliding mode control and second-order sliding mode control are employed to improve the precision and transient performance of the path-tracking.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Chung-Cheng Chen, Yen-Ting Chen
Summary: This article presents a new method to achieve multiple performance of highly nonlinear multi-input multi-output full-car uncertain system through optimized control and reduce the amplitudes of system control inputs. By using PSO optimization algorithm to replace the traditional trial-and-error method and locally Jacobian linearized approach, the study aims to achieve optimal control matrices of LQR method.
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Automation & Control Systems
Chen Ding, Shihong Ding, Xinhua Wei, Keqi Mei
Summary: This paper proposes path tracking control methods for autonomous agricultural tractors subject to wheel slip constraints using second-order sliding mode and finite-time disturbance observer techniques. The developed guidance laws achieve good tracking performance and strong robustness even in the presence of slipping effects.
Article
Automation & Control Systems
Jing Li, Qingbin Wu, Junzheng Wang, Jiehao Li
Summary: The article presents a neural network-based sliding mode tracking control scheme (SMCR) for a developed four wheel-legged robot (BIT-NAZA) under uncertain interaction. A non-singular fast terminal function based on the kinematic model is proposed for path tracking to reduce the influence of uncertain disturbances, while ensuring path tracking control accuracy via neural networks. Demonstrations using the autonomous platform of the BIT-NAZA robot show the robustness and effectiveness of the hybrid algorithm.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Agriculture, Multidisciplinary
Jinlin Sun, Qiushi Li, Shihong Ding, Gaoyong Xing, Liping Chen
Summary: This paper proposes a novel fixed-time generalized super-twisting control scheme to tackle common problems and improve path tracking performance in autonomous agricultural vehicles. With the design of a fixed-time integral sliding mode surface, innovative auxiliary system dynamics, and the use of a generalized super-twisting controller, the proposed scheme demonstrates superior performance and robustness in field experiments.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2023)
Article
Computer Science, Hardware & Architecture
Zhiye Zhao, Xiaozheng Jin
Summary: This paper proposes a path tracking controller for agricultural quadrotors, which can achieve accurate path tracking under the influence of model uncertainties and exogenous disturbances.
COMPUTERS & ELECTRICAL ENGINEERING
(2022)
Article
Automation & Control Systems
Lu Fan, Ancai Zhang, Guangyuan Pan, Yingxue Du, Jianlong Qiu
Summary: This paper discusses the stabilizing control problem of a cart-double pendulum system. By constructing an input relationship and designing swing-up and balance stabilization controllers, the system is stabilized at upright equilibrium point in a fixed time.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Robotics
Krishanu Nath, Manas Kumar Bera
Summary: This work discusses the design and implementation of a robust control strategy based on integral sliding mode (ISM) for tracking a reference trajectory by a nonholonomic wheeled mobile robot (WMR). A state feedback control law using dynamic feedback linearization is adopted to design the controller for the unperturbed dynamics of the WMR. To nullify the effects of perturbations in the WMR and to retain the performance of the nominal controller, the ISM control scheme is introduced, which uses discontinuous control to guarantee the robustness of the closed-loop system. To relax the frequent use of the communication network due to the continuous exchange of the sensor measurements, the control law is redesigned using event-based sampled data information. The control signal is updated in an aperiodic manner by designing a novel triggering rule where the triggering occurs only when either of the two sampling errors violates a predefined threshold condition. This design approach gives a balanced solution for a networked WMR regarding network usage and control performance. Finally, a simulation study with comparative analysis and hardware-in-loop testing of the proposed controller is performed on a mobile robot system to establish the feasibility of the theoretical results.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Energy & Fuels
Lu Liu, Yun Zeng
Summary: This paper proposes a non-singular terminal sliding-mode control (NTSMC) strategy based on the improved salp swarm algorithm (ISSA) to solve the issue of system oscillations in DC microgrid systems with constant power loads (CPL). The state-feedback exact linearization technique is used to establish a linearized model of the converter system. The NTSMC based on a composite sliding-mode surface is designed to achieve rapid convergence and effectively weaken the chattering issue in traditional sliding-mode control.
Article
Agricultural Engineering
Bingli Zhang, Jin Cheng, Pingping Zheng, Aojia Li, Xiaoyu Cheng
Summary: The study developed a path-tracking control algorithm for autonomous tractors based on lateral deviation and yaw rate feedback. By utilizing yaw angular velocity correction and sliding mode control, the algorithm achieved the ideal steering angle, demonstrating efficiency and superior accuracy in automatic navigation control systems for autonomous tractors.
APPLIED ENGINEERING IN AGRICULTURE
(2021)
Review
Acoustics
Quoc-Dong Hoang, Jonggyu Park, Soon-Geul Lee
Summary: This study focuses on addressing the undesired vibrations of hydraulic crawler excavators working on weak soil support, proposing a new approach that combines feedback linearization and sliding mode control for controller design. The control law reduces vibrations on an elastic foundation while allowing for accurate tracking performance of the links, showing promise for practical applications on a small-scale platform.
JOURNAL OF VIBRATION AND CONTROL
(2021)
Article
Automation & Control Systems
Yue Zhao, Xin Du, Chunjie Zhou, Yu-Chu Tian, Xiaoya Hu, Daniel E. Quevedo
Summary: This article introduces an idea to address both actuator attacks and sensor attacks in cyber-physical systems (CPSs) and simplifies the mathematical modeling of attacked CPSs by using feedback linearization control, thus reducing the difficulty of resilient controller design.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2022)
Article
Engineering, Aerospace
Yijun Lian, Junhua Xiang, Yong Zhao
Summary: This work presents a control method for attitude tracking of satellites using on-off electric thrusters of constant magnitude. It utilizes the Pulse-Width-Pulse-Frequency (PWPF) algorithm to achieve globally stable finite-time control, with two sliding surfaces designed for finite-time convergence. The proposed method also includes an automatic generator for generating time-related key parameters.
ADVANCES IN SPACE RESEARCH
(2023)
Article
Engineering, Aerospace
Jingchuan Tang, Zongyu Zuo
Summary: This paper presents a new class of distributed cooperative guidance laws based on circular guidance and practical prescribed-time consensus, under both undirected and directed communication topologies. A bias term is added to the circular guidance law to achieve impact time synchronization within a prescribed time. The time-to-go expression under the circular guidance law is utilized for accurate impact time cooperation. The proposed guidance laws ensure both convergence rate and reduction in acceleration magnitude due to the practical prescribed-time consensus. Additionally, they are extended to nonmaneuvering targets based on predicted interception point. Numerical simulations in different scenarios validate the effectiveness, robustness, and superiority of the proposed guidance laws.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2023)
Article
Automation & Control Systems
Ehsan Zakeri, Seyed Alireza Moezi, Mohammad Eghtesad
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2018)
Article
Engineering, Mechanical
Seyed Alireza Moezi, Ehsan Zakeri, Amin Zare
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2018)
Article
Engineering, Multidisciplinary
Seyed Alireza Moezi, Ehsan Zakeri, Amin Zare
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2018)
Article
Automation & Control Systems
Ehsan Zakeri, Seyed Alireza Moezi, Mohammad Eghtesad
Article
Automation & Control Systems
Seyed Alireza Moezi, Ehsan Zakeri, Mohammad Eghtesad
Article
Engineering, Electrical & Electronic
Ehsan Zakeri, Hossein Moeinkhah
SENSORS AND ACTUATORS A-PHYSICAL
(2019)
Article
Environmental Sciences
M. Mahdavi Adeli, S. Farahat, F. Sarhaddi
INTERNATIONAL JOURNAL OF ENVIRONMENTAL SCIENCE AND TECHNOLOGY
(2020)
Article
Chemistry, Physical
Mohsen Mahdavi Adeli, Said Farahat, Faramarz Sarhaddi
INTERNATIONAL JOURNAL OF PHOTOENERGY
(2020)
Article
Computer Science, Interdisciplinary Applications
Habibeh Khosravi, Ehsan Zakeri, Wen-Fang Xie, Bahar Ahmadi
Summary: This paper presents an adaptive multi-tracker optimization algorithm (AMTOA) for global optimization problems in chemical engineering. By modifying the traditional multi-tracker optimization algorithm (MTOA) and making its parameters adaptive, AMTOA achieves higher solution precision, algorithm reliability, and reduces the number of parameters. Comparisons with other well-known methods and advanced optimization algorithms demonstrate AMTOA's superiority for chemical engineering optimization problems.
ENGINEERING WITH COMPUTERS
(2022)
Article
Environmental Sciences
Mohsen Mahdavi Adeli, Said Farahat, Faramarz Sarhaddi
ENVIRONMENTAL SCIENCE AND POLLUTION RESEARCH
(2020)
Article
Automation & Control Systems
Bahar Ahmadi, Wen-Fang Xie, Ehsan Zakeri
Summary: This article presents a robust cascade vision/force approach for controlling industrial robots interacting with unknown workpieces. The approach uses a cascade structure consisting of an inner vision loop and an outer force loop to avoid conflicts between force and vision control. The proposed method also includes an advanced image-based visual servoing compensator and a practical task-based feature extraction method. Experimental tests show the stability and superiority of the proposed approach.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Computer Science, Information Systems
Bahar Ahmadi, Ehsan Zakeri, Wen-Fang Xie
Summary: In this paper, a novel image-based task-sequence/path planning scheme coupled with a robust vision/force control method is suggested for solving the multi-task operation problem of an eye-in-hand industrial robot interacting with a workpiece. The proposed method provides an optimal task sequence planning scheme and an optimal path planning method to achieve efficient task execution.
Proceedings Paper
Computer Science, Artificial Intelligence
Bahar Ahmadi, Wen-Fang Xie, Ehsan Zakeri
Summary: This paper presents a novel multi-stage method for robust hybrid vision/force control of industrial robots, utilizing super-twisting sliding mode controller (STSMC) for each stage to improve performance and robustness. The experimental results demonstrate the effectiveness and superiority of the proposed method compared to traditional approaches.
2021 IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS (MFI)
(2021)
Article
Engineering, Mechanical
Ali Shahabi, Amir Hossein Kazemian, Said Farahat, Faramarz Sarhaddi
Summary: This study investigates the dynamic behavior of a vehicle during braking and steering input using the quarter-car model, considering a Sport-Utility Vehicle (SUV) with ABS and nonlinear dynamic equations. An intelligent adaptive fuzzy controller is proposed to regulate the wheel slip ratio optimally for different road conditions, with wheel slip ratio and vehicle longitudinal acceleration as inputs. The study also analyzes the parameters affecting the vehicle's dynamic behavior and stability during braking and steering input.
MECHANICS & INDUSTRY
(2021)
Article
Engineering, Ocean
Canjun Yang, Dingze Wu, Puzhe Zhou, Shuyang Ma, Rui Zhou, Xin Zhang, Yang Zhang, Qingchao Xia, Zeliang Wu
Summary: The Argo Global Ocean Observing Network is the preeminent ocean observation network worldwide, but its buoys fail to complete long-term observations in designated sea areas due to their lack of lateral movement. To solve this problem, a portable underwater profiler (PUP) that combines buoy and underwater glider functionalities was developed. The PUP is lightweight, allows for rapid deployment, and enables continuous observation.
APPLIED OCEAN RESEARCH
(2024)
Article
Engineering, Ocean
Knut Andreas Kvale, Bernt Leira, Ole Oiseth
Summary: As future floating bridges become longer, the chance of encountering significant inhomogeneous wave conditions increases. This paper presents an approach to model these conditions using generalized harmonic decomposition and applies it to a conceptual floating bridge model in Norway. The paper focuses on frequency-domain simulation and highlights the importance of considering the coherency in swell sea conditions.
APPLIED OCEAN RESEARCH
(2024)
