Variable structure control of nonlinear multivariable systems: a tutorial

RA DeCarlo, SH Zak, GP Matthews - Proceedings of the IEEE, 1988 - ieeexplore.ieee.org
The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear,
time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control …

Neuroadaptive control for complicated underactuated systems with simultaneous output and velocity constraints exerted on both actuated and unactuated states

T Yang, N Sun, Y Fang - IEEE Transactions on Neural …, 2021 - ieeexplore.ieee.org
Due to limited workspace and safety requirements for practical underactuated mechanical
systems, it is necessary to restrict all to-be-controlled variables and their velocities within …

[图书][B] Distributed coordination of multi-agent networks: emergent problems, models, and issues

W Ren, Y Cao - 2010 - books.google.com
Multi-agent systems have numerous civilian, homeland security, and military applications;
however, for all these applications, communication bandwidth, sensing range, power …

Nonsmooth barrier functions with applications to multi-robot systems

P Glotfelter, J Cortés, M Egerstedt - IEEE control systems letters, 2017 - ieeexplore.ieee.org
As multi-agent systems become more wide-spread and versatile, the ability to satisfy
multiple system-level constraints grows increasingly important. In applications ranging from …

A novel actor–critic–identifier architecture for approximate optimal control of uncertain nonlinear systems

S Bhasin, R Kamalapurkar, M Johnson… - Automatica, 2013 - Elsevier
An online adaptive reinforcement learning-based solution is developed for the infinite-
horizon optimal control problem for continuous-time uncertain nonlinear systems. A novel …

Variable structure control: A survey

JY Hung, W Gao, JC Hung - IEEE transactions on industrial …, 1993 - ieeexplore.ieee.org
A tutorial account of variable structure control with sliding mode is presented. The purpose is
to introduce in a concise manner the fundamental theory, main results, and practical …

Distributed tracking control for linear multiagent systems with a leader of bounded unknown input

Z Li, X Liu, W Ren, L Xie - IEEE Transactions on Automatic …, 2012 - ieeexplore.ieee.org
This technical note considers the distributed tracking control problem of multiagent systems
with general linear dynamics and a leader whose control input is nonzero and not available …

Distributed containment control with multiple stationary or dynamic leaders in fixed and switching directed networks

Y Cao, W Ren, M Egerstedt - Automatica, 2012 - Elsevier
In this paper, we study the problem of distributed containment control of a group of mobile
autonomous agents with multiple stationary or dynamic leaders under both fixed and …

Discontinuous dynamical systems

J Cortes - IEEE Control systems magazine, 2008 - ieeexplore.ieee.org
This article has presented an introductory tutorial on discontinuous dynamical systems.
Various examples illustrate the pertinence of the continuity and Lipschitzness properties that …

Adaptive control for pneumatic artificial muscle systems with parametric uncertainties and unidirectional input constraints

N Sun, D Liang, Y Wu, Y Chen, Y Qin… - IEEE Transactions on …, 2019 - ieeexplore.ieee.org
Pneumatic artificial muscle (PAM) systems are a kind of tube-like actuators, which can act
roughly like human muscles by performing contractile or extensional motions actuated by …