A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

In this paper, a new sliding mode controller is proposed for the heading control of the submersible vehicle. Within a fixed boundary layer around the switch surface, since the fuzzy logic is applied, the chattering phenomenon is eliminated by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Moreover, the...

Every physical actuator is subject to saturation. It has been well recognized that, when the actuator saturates, the performance of the closed-loop system (designed without considering actuator saturation) may seriously deteriorate. In extreme cases, the system stability may even be lost. This paper proposes an avoid saturation strategy for the torque controller of a wind turbine benchmark mode...

The objective of this paper is to realize a fuzzy logic controller for an aeroload simulator, which simulates the aerodynamic load that a missile is subjected to on flight. In this paper, we propose a new fuzzy logic controller using the phase plane, in order to improve the overall performance of the aeroload simulator system. The design procedure and method of this controller are easy and simp...

We develop nonsmooth optimization techniques to solve H∞ synthesis problems under additional structural constraints on the controller. Our approach avoids the use of Lyapunov variables and therefore leads to moderate size optimization programs even for very large systems. The proposed framework is very versatile and can accommodate a number of challenging design problems including static, fixed...

The Coefficient Diagram Method (CDM) is a parametric approach to design a controller based on coefficient shaping. It involves two steps; first, characterization of the desired time response in terms of the two specific parameters denoted by (αi, τ), in this paper, that are functions of a characteristic polynomial. Once such a target characteristic polynomial is obtained, the controller paramet...

A new method for robust fixed-order H∞ controller design by convex optimization for multivariable systems is investigated. Linear Time-Invariant Multi-Input Multi-Output (LTI-MIMO) systems represented by a set of complex values in the frequency domain are considered. It is shown that the Generalized Nyquist Stability criterion can be approximated by a set of convex constraints with respect to t...

A systematic mixed deterministic-randomized approach for filter design is presented. This method has two advantages: (i) it is a computational efficient algorithm for the deterministic parameters and (ii) we can design fixed order controllers because we follow a randomization approach. Different filter forms are selected to prove the effectiveness of this algorithm and the obtained results are ...

This paper presents an online two-stage Q-learning based multi-agent (MA) controller for load frequency control (LFC) in an interconnected multi-area multi-source power system integrated with distributed energy resources (DERs). The proposed control strategy consists of two stages. The first stage is employed a PID controller which its parameters are designed using sine cosine optimization (SCO...

A singularly perturbed model is proposed for a system comprised of a PEM Fuel Cell(PEM-FC) with Natural Gas Hydrogen Reformer (NG-HR). This eighteenth order system is decomposedinto slow and fast lower order subsystems using singular perturbation techniques that provides tools forseparation and order reduction. Then, three different types of controllers, namely an optimal full-order,a near-opti...