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This paper describes the dynamical uncertain systems by the Takagi-Sugeno (T-S) fuzzy dynamic model, and proposes a LMI design method of the robust fuzzy sliding mode observer by applying the robust sliding-mode observer design principle based on the singular value decomposition. Firstly, the Lyapunov function is used as the critical condition which ensures the consistent convergence of the designed...
Passive theory has been paid much more attention since its debut for it has connection with physical properties and stability of the investigated systems. And, besides that, passive theory contributes for Lyapunov function further in part for its root in storage functions. On account of that, a new bridge between passivity and stability for non-autonomous systems is touched and built in this paper...
In this paper, a design approach is proposed for feedforward-feedback control systems. As the basis of the proposed design approach, steady state control command is defined as the control command which maintains the desired situation of the system. Steady state control law is derived form system's mathematical model and employed as feedforward controller. Using such a feedforward controller, for a...
The motion of typical aerodynamic systems can be simplified as the rigid multibody dynamics, such as applications on the vehicle dynamics and flight dynamics. The multibody dynamics represents the interaction among the individuals with large translational and rotational displacements. In the presence of parametric and nonparametric uncertainties, the stability issue is extremely critical to nonlinear...
In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of...
In this paper, a decentralized sliding mode control approach is applied to the control tasks of vehicles in platoons. Using the well known bicycle model, a robust nonlinear observer is introduced to facilitate the controller design which needs full state measurements. The vehicles in platoons can be treated as an interconnected system with a special form. Observer gain and controller gain are properly...
This paper presents a direct adaptive fuzzy control scheme for a class of uncertain single-input single-output nonlinear systems subject to input amplitude and rate saturation constraints. The fuzzy controller is designed to mimic an ideal controller which is assumed guarantying the control objective. The free parameters of the fuzzy controller are adjusted by an adaptive law which prevents the presence...
This paper deals with discrete-time systems and considers the problem of computing an upper bound to the dwell time of switched systems ensuring a pre-specified root mean square gain (RMS). As a natural consequence of treating general systems of this particular class in terms of the order and the number of subsystems, only sufficient conditions are worked out. However, as positive features, they are...
This paper deals with modeling and design of reliable controller for a new type diaphragm pump. Because of parameter uncertainties and nonlinear dynamics of the pump model, a fuzzy-like PID controller is designed. The controller design is based on fuzzy Lyapunov synthesis and stability and the robustness analysis of the designed system are straightforward. The pump control system is driven by a digital...
In this note, we investigate the problem of state observation and input recovery of a particular class of nonlinear systems based on multi-models with unknown input. For this particular system and a corresponding observer structure, an original set of sufficient LMI conditions are derived from the Lyapunov theory, allowing to compute the gains of the observers and assuring asymptotic convergence....
DivA, acronym of divergence algorithm, a novel approach for the characterization of nonlinear time series has been developed. This new methodology is based on a numerical algorithm that calculates the divergence curve from which the maximum Lyapunov exponent and the asymptotic trajectories divergence can be extracted. The consistence of the algorithm, DivA, has been proved by making a comparison with...
This paper investigates the path tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults and the external resistance. A hybrid fault tolerant control approach, which combines the linear quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehiclepsilas tracking performance in spite...
This paper models a class of stochastic systems with faults by the switching diffusion processes (SDP), and analyzes the fault tolerability of such stochastic systems in the sense of input-to-state stability (ISS) of overall SDP. A series of sufficient conditions are established to guarantee the ISS of the stochastic systems in spite of faults in three cases respectively: All individual modes of SDP...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains parametric and nonparametric uncertainties. The proposed neural controller (PNC) is constituted of the KNC and the TNC, and designed by use of a modeling technique...
This work extends previous stability results of autonomous reset control systems to the case in which external inputs, such as references and disturbances inputs, are present. The Hbeta-condition, that has been developed in the framework of Lyapunov stability for the autonomous system, has been used and extended to approach the problem of input-output stability. By using a passivity approach, L2-stability...
In this paper, the design of a backstepping adaptive fuzzy controller for induction machine is addressed. The backstepping has been adopted to exploit the field oriented control scheme and to use only one control channel. Thus, the true and virtual control signals have been synthesized, using two adaptive fuzzy systems, to overcome the constraint on the well knowledge of the machine parameters. These...
This paper describes the development of an adaptive control law based on exact feedback linearization and Lyapunov adaptation of the process dynamics applied to a solar furnace. The controller is tested on a 6kW solar furnace model that represents a plant installed at the Odeillo Processes Materials and Solar Energy Laboratory (Oriental Pyrenees in the South of France). The adaptive features allow...
In this paper, a new active FTC strategy is proposed. First, it is developed in the context of linear systems and then it is extended to Takagi-Sugeno fuzzy systems. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is...
This paper deals with the problem of state estimation of nonlinear uncertain systems described by uncertain multiple model form with unmeasurable decision variables. We propose two methods to attenuate the effect of modeling uncertainties and measurement noise on the state estimation. The first method is based, under some assumptions, on the second method of Lyapunov and L2 approach. The second method...
In this paper we present a robust adaptive controller based on a neural network (NN) for a variable stiffness actuator (VSA). The controller is able to independently set the mechanical stiffness and position at the joint shaft to guarantee robustness with respect to slowly time-varying and unmodeled friction coefficients affecting the dynamics of the actuator. The lumped uncertainties of the VSA including...
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