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JournalISSN: 1598-6446

International Journal of Control Automation and Systems 

Springer Science+Business Media
About: International Journal of Control Automation and Systems is an academic journal published by Springer Science+Business Media. The journal publishes majorly in the area(s): Control theory & Control theory (sociology). It has an ISSN identifier of 1598-6446. Over the lifetime, 3824 publications have been published receiving 51885 citations. The journal is also known as: International Journal of Control, Automation, & Systems.


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Journal ArticleDOI
TL;DR: In this paper, two types of nonlinear controllers for an autonomous quadrotor helicopter are presented: a feedback linearization controller and an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty.
Abstract: This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.

637 citations

Journal ArticleDOI
Jay H. Lee1
TL;DR: Model predictive control (MPC) has been studied extensively in the last three decades as mentioned in this paper, and the main focus has been on the development of fast MPC, a term chosen to collectively describe the various efforts to bring orders-of-magnitude improvement in the efficiency of the on-line computation so that the technology can be applied to systems requiring very fast sampling rates.
Abstract: Three decades have passed since milestone publications by several industrialists spawned a flurry of research and industrial / commercial activities on model predictive control (MPC). This article reviews major developments and achievements during the three decades and attempts to put a perspective on them. The first decade is characterized by the fast-growing industrial adoption of the technology, primarily in the refining and petrochemical sectors, which sparked much interest and also confusion among the academicians. The second decade saw a number of significant advances in understanding the MPC from a control theoretician’s viewpoint, which included state-space interpretations / formulations and stability proofs. These theoretical triumphs contributed to the makings of the second generation of commercial software, which was significantly enhanced in generality and rigor. The third decade’s main focus has been on the development of “fast MPC,” a term chosen to collectively describe the various efforts to bring orders-of-magnitude improvement in the efficiency of the on-line computation so that the technology can be applied to systems requiring very fast sampling rates. Throughout the three decades of the development, theory and practice supported each other quite effectively, a primary reason for the fast and steady rise of the technology.

550 citations

Journal ArticleDOI
TL;DR: A survey of the autopilot systems for small or micro unmanned aerial vehicles (UAVs) is presented and several typical off-the-shelf autopilot packages are compared in terms of sensor packages, observation approaches and controller strengths.
Abstract: This paper presents a survey of the autopilot systems for small or micro unmanned aerial vehicles (UAVs). The objective is to provide a summary of the current commercial, open source and research autopilot systems for convenience of potential small UAV users. The UAV flight control basics are introduced first. The radio control system and autopilot control system are then explained from both the hardware and software viewpoints. Several typical off-the-shelf autopilot packages are compared in terms of sensor packages, observation approaches and controller strengths. Afterwards some open source autopilot systems are introduced. Conclusion is made with a summary of the current autopilot market and a remark on the future development.

441 citations

Journal ArticleDOI
TL;DR: A review of state-of-the-art researches on soft robots and application areas can be found in this paper, where several innovative techniques and diverse materials and fabrication methods are described.
Abstract: Soft robots are often inspired from biological systems which consist of soft materials or are actuated by electrically activated materials. There are several advantages of soft robots compared to the conventional robots; safe human-machine interaction, adaptability to wearable devices, simple gripping system, and so on. Due to the unique features and advantages, soft robots have a considerable range of applications. This article reviews state-of-the-art researches on soft robots and application areas. Actuation systems for soft robots can be categorized and analyzed into three types: variable length tendon, fluidic actuation, and electro-active polymer (EAP). The deformable property of soft robots restricts the use of many conventional rigid sensors such as encoders, strain gauges, or inertial measurement units. Thus, contactless approaches for sensing and/or sensors with low modulus are preferable for soft robots. Sensors include low modulus (< 1 MPa) elastomers with liquid-phase material filled channels and are appropriate for proprioception which is determined by the degree of curvature. In control perspective, novel control idea should be developed because the conventional control techniques may be inadequate to handle soft robots. Several innovative techniques and diverse materials & fabrication methods are described in this review article. In addition, a wide range of soft robots are characterized and analyzed based on the following sub-categories; actuation, sensing, structure, control and electronics, materials, fabrication and system, and applications.

368 citations

Journal Article
TL;DR: A survey about two-degree-of-freedom PID controllers can be found in this paper, including equivalent transformations, various explanations about the effect of the two degree of freedom structure, relation to the preceded-derivative PID and the I-PD con- trollers, and an optimal tuning method.
Abstract: Important results about two-degree-of-freedom PID controllers are surveyed for the tutorial purpose, including equivalent transformations, various explanations about the effect of the two-degree-of-freedom structure, relation to the preceded-derivative PID and the I-PD con- trollers, and an optimal tuning method.

301 citations

Performance
Metrics
No. of papers from the Journal in previous years
YearPapers
2023226
2022415
2021338
2020300
2019295
2018295