Robust output regulation of the linearized Boussinesq equations with boundary control and observation

We study a temperature and velocity output tracking problem for a two-dimensional room model with the fluid dynamics governed by the linearized translated Boussinesq equations. Additionally, the room model includes finite-dimensional models for actuation and sensing dynamics; thus, the complete model dynamics are governed by an ODE–PDE–ODE cascade. As the main contribution, we design a low-dimensional internal model-based controller for robust output tracking of the room model. The controller’s performance is demonstrated through a numerical example.

An observer-based output tracking controller for electrically driven cooperative multiple manipulators with adaptive Bernstein-type approximator

Thisarticle presents an observer-based output tracking control method for electrically actuated cooperative multiple manipulators using Bernstein-type operators as a universal approximator. This efficient mathematical tool represents lumped uncertainty, including external perturbations and unmodeled dynamics. Then, adaptive laws are derived through the stability analysis to tune the polynomial coefficients. It is confirmed that all the position and force tracking errors are uniformly ultimately bounded using the Lyapunov stability theorem. The theoretical achievements are validated by applying the proposed observer-based controller to a cooperative robotic system comprised of two manipulators transporting a rigid object. The outcomes of the introduced method are also compared to RBFNN, which is a powerful state-of-the-art approximator. The results demonstrate the efficacy of the introduced adaptive control approach in controlling the system even in the presence of disturbances and uncertainties.

Output Tracking of Some Class Non-Minimum Phase Nonlinear Systems via linearization Input-Output

We present an output tracking problem for a non-minimum phase nonlinear system. In this paper, the input control design to solve the output tracking problem is to use the input output linearization method. The use of the input output linearization method cannot be initiated from output causing the system to be non-minimum phase. Therefore the output of the system will be redefined such that the system will become minimum phase with respect to a new output.

Non-smooth Modeling and Variable Structure Control of a Class of Hybrid Dynamical Systems

In this work, we propose a modeling formulation and controller design for a class of hybrid dynamical systems. In this formulation, a switching dynamical system is modeled as a dynamical system with discontinuous right hand side. More specifically, the system is transformed to a nonlinear system with discontinuous nonlinearities. Then, a synthesis of feedback linearization and sliding mode control is employed for output tracking control problem. Application and implementation of this approach is illustrated via a chemical process example.