3 papers
math.OC2025
Optimal Control of H-Mode Tokamak Plasma Temperature based on Pontryagin's Principle
Slim Jmal, Matteo Tacchi-Bénard, Emmanuel Witrant
This paper studies the decay of an objective functional using a new control technique within Pontryagin's framework. Convergence analysis is carried out on the infinite-dimensional…
eess.SY2025
Adaptive Task Space Non-Singular Terminal Super-Twisting Sliding Mode Control of a 7-DOF Robotic Manipulator
L. Wan, S. Smith, Y. -J. Pan +1
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic ma…
cs.RO2025
Stream Function-Based Navigation for Complex Quadcopter Obstacle Avoidance
Sean Smith, Emmanuel Witrant, Ya-Jun Pan
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in in…