Quan Zhu's Outputs (126)

Adaptive prescribed time path following controller for underactuated surface vessels (2025)
Journal Article

Heading control of marine vehicles is an important issue in navigation and control engineering. This paper investigates the design of a prescribed-time robust adaptive path following control problem of an underactuated surface vessel with parametric... Read More about Adaptive prescribed time path following controller for underactuated surface vessels.

Distributed estimation and motion control in multi-agent systems under multiple attacks (2025)
Journal Article

This paper addresses the problem of distributed estimation and motion control (DEMC) in multi-agent systems (MASs) with both linear and Lipschitz nonlinear dynamics. Unlike conventional DEMC methods designed for MASs under ideal conditions, this work... Read More about Distributed estimation and motion control in multi-agent systems under multiple attacks.

Total least squares algorithm for errors-in-variables systems: Iterative algorithm or two-step algorithm (2025)
Journal Article

The total least squares (TLS) algorithm is a superior identification tool for low-order errors-in-variables (EIV) systems, where the estimate can be obtained by solving an eigenvector of the minimum eigenvalue of an augmented matrix. However, the TLS... Read More about Total least squares algorithm for errors-in-variables systems: Iterative algorithm or two-step algorithm.

Composite nonlinear feedback event‐triggered control of switched system with input saturation (2025)
Journal Article

AbstractThis paper focuses on the composite nonlinear feedback (CNF) event‐triggered control of saturated switched systems. The proposed CNF event‐triggered control method can not only improve transient performance of systems but also decrease networ... Read More about Composite nonlinear feedback event‐triggered control of switched system with input saturation.

Industry 4.0 more than a challenge in modeling, identification, and control for cyber-physical systems (2024)
Book Chapter

Modeling, Identification, and Control for Cyber-Physical Systems Towards Industry 4.0 studies and analyzes the role of algorithms in identifying and controlling such a system towards Industry 4.0, which is the digital transformation of manufacturing... Read More about Industry 4.0 more than a challenge in modeling, identification, and control for cyber-physical systems.

A delta operator state estimation algorithm for discrete-time systems with state time-delay (2024)
Journal Article

This letter presents a state estimation algorithm for linear discrete-time systems with state-delay. In order to overcome the difficulty that the traditional Kalman filter cannot estimate the states of the systems with state-delay, a state estimation... Read More about A delta operator state estimation algorithm for discrete-time systems with state time-delay.

Adaptive fuzzy sliding mode controller design for uncertain robotic manipulator with finite‐time convergence (2024)
Journal Article

ABSTRACTThis article investigates the issue of finite‐time tracking control for uncertain robotic manipulator systems with unknown actuator faults and shifting loads based upon a fuzzy sliding mode control strategy. A novel fuzzy adaptive sliding mod... Read More about Adaptive fuzzy sliding mode controller design for uncertain robotic manipulator with finite‐time convergence.

Accelerated proximal gradient method for systems with unknown structure using Volterra series (2024)
Journal Article

Systems with unknown structures widely exist in engineering practices. In this paper, a Volterra series is applied to approximate the dynamics of systems. Due to the special structure of the Volterra model, the approximated model has a high order and... Read More about Accelerated proximal gradient method for systems with unknown structure using Volterra series.

Dynamic inversion-enhanced U-control of quadrotor trajectory tracking (2024)
Journal Article

This study proposes a universal (U)-control enhanced with dynamic inversion for a class of multiple-input multiple-output (MIMO) quadrotor flight tracking operations. In the technique, a robust compensator is integrated with the U-controller to achie... Read More about Dynamic inversion-enhanced U-control of quadrotor trajectory tracking.

Cooperative adaptive cruise control for connected vehicle systems under composite attacks (2024)
Journal Article

This paper investigates the cooperative adaptive cruise control (CACC) problem under composite attacks. A novel resilient scheme is proposed for connected vehicle systems to deal with several types of attacks, including denial of service (DoS), camou... Read More about Cooperative adaptive cruise control for connected vehicle systems under composite attacks.

U-control – a universal platform for control system design with inversion/cancellation of nonlinearity, dynamic and coupling through model-based to model-free procedures (2024)
Journal Article

This paper presents the key components in the Universal(U)-control framework for designing dynamic control systems from model-based to model-free paradigms, in which the pillars include U-control system configuration, open-loop dynamic inversion, clo... Read More about U-control – a universal platform for control system design with inversion/cancellation of nonlinearity, dynamic and coupling through model-based to model-free procedures.

Adaptive security control for uncertain delayed semi-Markov jump systems subject to cyber attacks and actuator failures (2024)
Journal Article

This note investigates the adaptive security control issue for uncertain delayed semi-Markov jump systems (DSMJSs) within the framework of sliding mode control (SMC), in which the DSMJSs are affected by generally unknown transition rates (GUTRs), act... Read More about Adaptive security control for uncertain delayed semi-Markov jump systems subject to cyber attacks and actuator failures.

U-model-based dynamic inversion control for quadrotor UAV systems (2024)
Book Chapter

A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a co... Read More about U-model-based dynamic inversion control for quadrotor UAV systems.

Multibody simulations of distributed flight arrays for Industry 4.0 applications (2024)
Book Chapter

Distributed Flight Arrays (DFAs) are an experimental type of aerial, multi-rotor, vehicle capable of land-based navigation and cooperative aerial flight involving physically docking with N-number of other agents forming a larger structure with some d... Read More about Multibody simulations of distributed flight arrays for Industry 4.0 applications.

Variable projection algorithm for GPS positioning in multipath environments based on Aitken acceleration method (2024)
Journal Article

The multipath effect often reduce global positioning system (GPS) positioning accuracy. Traditional GPS positioning methods usually ignore the multipath effect errors, resulting in poor positioning estimation accuracy. This article proposes a variabl... Read More about Variable projection algorithm for GPS positioning in multipath environments based on Aitken acceleration method.

Feedback stabilization of a class of nonlinear systems using nonlinear normal form (2023)
Presentation / Conference Contribution

This paper investigates the design of a feedback controller via nonlinear normal form for a class of nonlinear systems. A general second-order nonlinear system affine in control is firstly presented. In general, it is more difficult to construct a no... Read More about Feedback stabilization of a class of nonlinear systems using nonlinear normal form.

Adaptive sliding mode attitude control of 2-degrees-of-freedom helicopter system with actuator saturation and disturbances (2023)
Journal Article

The modelling uncertainties, external disturbance and actuator saturation issues will degrade the performance and even the safety of flight. To improve control performance, this study proposes an adaptive U-model based double sliding control (UDSMC)... Read More about Adaptive sliding mode attitude control of 2-degrees-of-freedom helicopter system with actuator saturation and disturbances.

Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems (2023)
Journal Article

This study presents a generalised framework for model-free robust decentralised control (MFRDC) of interconnected MIMO dynamic systems, with the goal of significantly reducing complexity in model-based design. A model-free robust sliding mode control... Read More about Model-free robust decentralised control of multi-input-multi-output nonlinear interconnected dynamic systems.

Neural network-enhanced fault diagnosis of robot joints (2023)
Journal Article

Industrial robots play an indispensable role in flexible production lines, and the faults caused by degradation of equipment, motors, mechanical system joints, and even task diversity affect the efficiency of production lines and product quality. Aim... Read More about Neural network-enhanced fault diagnosis of robot joints.

Two iterative reweighted algorithms for systems contaminated by outliers (2023)
Journal Article

This study proposes two iterative reweighted (IRE) algorithms for systems whose data are contaminated by outliers. For the negative effect caused by the outliers, traditional least squares (LSs) and gradient descent (GD) algorithms cannot obtain unbi... Read More about Two iterative reweighted algorithms for systems contaminated by outliers.