In this paper, an observer-based fixed-time output feedback control method for flexible-joint manipulators is proposed. First, a novel extended-state observer is designed to estimate unmeasurable states and lumped disturbances exactly in a fixed …

The issues of stability, l2-gain analysis and H∞ control are addressed for a class of discrete-time switched systems subject to time-varying delay and unstable modes in this paper. To solve the problems, firstly, a hybrid mode-dependent average …

Previous researches on sliding mode control focus on the time or space domain, regardless of the combination of the two domains. This paper presents a new scheduled space-time barrier sliding mode control (SSTBSMC) scheme for disturbed systems.

This paper concentrates on digital hydraulic cylinder systems’ interference suppression and bandwidth expansion problems. The goals are to ensure the system’s stability and improve the rapid response-ability. First, a non-linear dynamics is used …

Global stabilization of a class of switched nonlinear systems with unknown arbitrarily switched output function is achieved via output feedback. A couple of improved high-gain observer and output feedback control law are proposed by using dual …

In the research of flocking control algorithm with obstacle avoidance, the constraints of obstacle information, shape and boundary limit their practical applications. To relax these constraints, we assume that the agent can only perceive the …

This paper studies the fully cooperative game tracking control problem (FCGTCP) for a class of discrete-time multi-player linear systems with unknown dynamics. The reference trajectory is generated by a command generator system. An augmented …

Achieving energy-efficient motion is important for the application of quadruped robots in a wide range. In this paper, we propose a hierarchical control framework that combines reinforcement learning and virtual model control to achieve …

Different estimated inequalities and augmented Lyapunov-Krasovskii functionals (LKFs) play important role in assessing the stability of time-delay systems. In this technical note, three categories of estimated inequalities are introduced, in which …

For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human motion intention identification in this …

Autonomous vehicles have gained popularity over the past few years. In this paper, an MPC-based lateral motion controller for autonomous vehicles through serially cascade discretization method is developed. A single discretization method in the …

Due to the high gain characteristics of the extended state observer (ESO), ADRC technology will be affected by high-frequency measurement noise in the buck circuit, the traditional method of using low-pass filters to filter the output signal will …

Target detection is crucial for many applications of Unmanned Aerial Vehicles (UAVs) such as search and rescue, object transportation, object detection, inspection, and mapping. One of the considerable applications of target detection is the safe …