Adaptive Control of Nonlinear Systems

Sliding mode control (SMC) is a robust, precise and quite popular nonlinear control technique using a control signal having two parts: switching and equivalent control signals. In order to calculate the equivalent control signal, a model of the system to be controlled is necessary. However, modeling a system can be so…

This paper proposes a new adaptive robust backstepping control architecture for precise trajectory tracking of a quadrotor unmanned aerial vehicle (UAV) subject to severe compounding anomalies. The proposed framework is specifically developed to maintain high-performance flight stabilization under the simultaneous imp…

This paper proposes a unified observer-controller framework for Interior Permanent Magnet Synchronous Motor (IPMSM) drives to achieve high-accuracy speed regulation under unknown time-varying load torque. A two-stage Nonlinear Extended State Observer (NL-ESO) framework is developed in the mechanical channel: the first…

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In this study, a fuzzy variable graded Sliding Mode Controller has been designed for a twin rotor multi-input multi-output system (TRMS). The main purpose of this study is to change the sliding surface of the sliding mode controller which is adaptively designed as variable order with the help of fuzzy logic and also t…

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In this study, a hybrid control structure that combines classical control methods with reinforcement learning is proposed for target tracking of a differential-drive mobile robot. In the proposed framework, Pure Pursuit–based reference generation and an inner-loop Proportional–Integral–Derivative (PID) controller are…

This paper presents a TD3-based reinforcement learning framework for adaptive PID-like control of uncertain dynamical systems. Although proportional–integral–derivative (PID) control remains widely used because of its simplicity, interpretability, and practical effectiveness, fixed-gain PID controllers often experienc…

This paper presents a self-tuning minimal-rule fuzzy logic controller for high-performance induction motor drives operating under field-oriented control. Unlike conventional full-rule fuzzy controllers and reduced-rule designs with fixed post-design scaling, the proposed method combines a fixed nine-rule Mamdani infer…

In this article, a general optimization framework is introduced to design and test tactical-level controllers for autonomous surface vehicles (ASVs) performing trajectory-tracking missions with a selected guidance law. This framework proposes a resolution to the vagueness in the selection of the cost function definiti…

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This article proposes an intelligent adaptive arbitrary fixed-time sliding mode control (AFxT-SMC) strategy, integrated with an arbitrary fixed-time disturbance observer (AFx-DO), for precise attitude and altitude tracking of quadcopter UAVs. The primary contribution is achieving arbitrary fixed-time convergence of tr…