This research work focuses on the design of a robust control algorithm for 3D trajectory
tracking of a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based …

Multiphase machines have attracted the attention of the research and industrial communities
due to their advantages, namely better power distribution and fault-tolerant capabilities …

The differentiators based on the Super-Twisting Algorithm (STA) yield finite-time and
theoretically exact convergence to the derivative of the input signal, whenever this derivative …

In this note, a novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is
proposed. It ensures for linear time invariant systems the global, finite-time convergence to …

This paper deals with the design and implementation of a nonlinear control algorithm for the
attitude tracking of a four-rotor helicopter known as quadrotor. This algorithm is based on the …

In this article, a two-stage design approach combining an adaptive-gain generalized super-
twisting algorithm (GSTA) and a modified super-twisting observer (STO) is proposed for the …

Complex and highly coupled dynamics, time-variance, unpredictable disturbances and lack
of knowledge of hydrodynamic parameters, complicate the control of underwater vehicles …

Lyapunov functions are a basic tool for analysis and design in the modern control theory,
and there are many different design methodologies based on Lyapunov theory. Second …

During missions at sea, underwater vehicles are exposed to changes in the parameters of
the system and subject to persistent external disturbances. These issues make the design of …

This paper proposes a new higher-order sliding mode-based approach to deal with the
problem of online state of charge (SOC) and state of health (SOH) estimation for Lithium-ion …