4 papers
Multi-layer barrier adaptation of the discrete-time super-twisting controller
Antoine Thibault Vié, Leonid Fridman, Roberto Galeazzi +1
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case o…
Closed Form Modelling and Identification of Banking Effects in Confined Waters
Jeppe H. Mikkelsen, Thomas T. Enevoldsen, Bugge T. Jensen +3
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, signif…
Multi-layer barrier function-based adaptive super-twisting controller
Antoine Thibault Vié, Leonid Fridman, Roberto Galeazzi +1
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but…
Dynamic Input Mapping Inversion to Eliminate Algebraic Loops in Hydraulic Actuator Control
Alessio Dallabona, Patrik Schermann, Mogens Blanke +1
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is…