This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is...

in this paper, an observer based fuzzy adaptive controller (fac) is designed fora class of large scale systems with non-canonical non-affine nonlinear subsystems. it isassumed that functions of the subsystems and the interactions among subsystems areunknown. by constructing a new class of state observer for each follower, the proposedconsensus control method solves the problem of unmeasured sta...

In this paper, a decentralized adaptive neural controller is proposed for a class of large-scale nonlinear systems with unknown nonlinear, non-affine subsystems and unknown nonlinear time-delay interconnections. The stability of the closed loop system is guaranteed through Lyapunov-Krasovskii stability analysis. Simulation results are provided to show the effectiveness of the proposed approache...

A new iterative learning controller is proposed for a general unknown discrete time-varying nonlinear non-affine system represented by NARMAX (Nonlinear Autoregressive Moving Average with eXogenous inputs) model. The proposed controller is composed of an iterative learning neural identifier and an iterative learning controller. Iterative learning control and iterative learning identification ar...

This paper develops a new method of integral sliding mode control redesign for a class of perturbed nonlinear dissipative switched systems by modifying the dissipativity-based control law that was designed for the unperturbed systems. The nominal model is considered affine with matched and unmatched perturbations. The redesigned control law includes an integral sliding-based control signal such...

For non-affine nonlinear flight control systems, a non-affine nonlinear robust fault tolerance control method is proposed. Here, the fault tolerance control framework is used, and on this basis, observer-based auxiliary system is designed to implicit fault parameters and disturbances information. Then reconfigurable controller is designed using the dynamic of observer-based auxiliary system, wh...

in this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. this controller is derived based on the closed form solution of the hamilton-jacobi-bellman (hjb) equation associated with the cheap control problem. this methodology employs an algebraic equation with parametric coefficients for the systems with s...

In this paper, a novel approach for finite-time stabilization of uncertain affine systems is proposed. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input-output feedback linearization of the nonlinear system with considering its internal dynamics. One of the main advantages of the proposed approach is that only the outputs and external state...

this paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. the given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. moreover, robust control laws are designed to guarantee the practical stability of the perturbe...

In this paper, we consider nonlinear affine-incontrol systems and present the L1 adaptive controller for the case when the performance specifications are defined via a nonlinear system of similar structure. The L1 adaptive controller ensures that the nonlinear, affine-in-control, uncertain system follows its ideal model during the transient and steadystate, if the adaptation gain is selected su...