Abstract: A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input ...

Abstract: This paper presents a robust discrete nonlinear active disturbance rejection controller (NADRC) for precise actuator position control in a highly nonlinear and uncertain pneumatic system.

This repository contains the full simulation code for the paper "Safe Robust Control with Uncertain Regressor and Parameter", presented at CCTA 2025. We propose a robust Control Barrier Function (CBF) ...

Ballbots are versatile robotic systems with the ability to move around in all directions. This makes it tricky to control their movement. In a recent study, a team has proposed a novel proportional ...