Genetic Algorithm-Based Sliding Mode Control of a Human Arm Model

Article Automation & Control Systems

Robust and Reliable Output Feedback Control for Uncertain Networked Control Systems Against Actuator Faults

Mohsen Bahreini et al.

Summary: This study introduces a comprehensive model to model actuator faults and proposes a novel fault-tolerant control strategy for networked control systems. By using a Markov chain to represent network-induced issues, the study derives sufficient conditions for stochastic stability through linear matrix inequalities, designing a robust FTC that requires only output feedback.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2022)

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Article Robotics

Trajectory Optimization and Model Predictive Control for Functional Electrical Stimulation-Controlled Reaching

Derek N. Wolf et al.

Summary: Functional electrical stimulation (FES) offers promise for restoring reaching motions in individuals with spinal cord injuries. A trajectory optimization and model predictive control scheme was developed to improve the performance of FES-driven reaching controllers, incorporating knowledge of muscle capabilities and arm dynamics. The controller achieved 3D reaching motions with an average accuracy of 8.5 cm and demonstrated the ability to reach targets throughout the workspace. This control scheme has the potential to unlock daily reaching tasks for individuals with spinal cord injuries when further improved.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

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Article Engineering, Electrical & Electronic

A Novel On-Board DC/DC Converter Controller Feeding Uncertain Constant Power Loads

Neda Sarrafan et al.

Summary: This article estimates the load power variation of uncertain CPLs in a shipboard dc microgrid using the finite-time disturbance observer method, and stabilizes the entire power grid with a fixed-time terminal sliding-mode controller. The proposed disturbance observer-based controller's fixed-time convergence is rigorously proven through Lyapunov-based stability analysis.

IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS (2021)

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Article Engineering, Electrical & Electronic