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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...
For the multi-motor synchronous control system has time delay and stochastic disturbance and uncertainty model factors, this paper proposed a fuzzy Smith controller which combined Smith pre-estimate control and fuzzy PID control, introducing the structure, the design method of the speed controller and modeling of the control system. Matlab toolboxes are used to simulate the multi-motor synchronous...
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...
Building on recent work in sensor-actuator networks and distributed manipulation, we consider the use of pure actuator networks for localization-free robotic navigation. We show how an actuator network can be used to guide an unobserved robot to a desired location in space and introduce an algorithm to calculate optimal actuation patterns for such a network. Sets of actuators are sequentially activated...
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels...
This paper presents an adaptive fuzzy controller for the robust backstepping control of a class of uncertain nonlinear systems in pure-feedback form. The proposed approach incorporates the Nussbaum gain function (NGF) and the dynamic surface control (DSC) into the existing adaptive fuzzy control scheme. The major features of the proposed method are that: 1) the two problems, control directions and...
This paper deals with the problems of robust admissibility and state feedback admissibilization of uncertain discrete descriptor systems. We propose a new sufficient condition, which is necessary in terms of a strict linear matrix inequality (LMI) for a nominal discrete descriptor system to be admissible (stable, regular and impulse free). Based on this, the state feedback admissibility problem is...
The paper deals with robust predictive control based on a LMI approach. With respect to the well established case of linear models, with a global polytopic uncertainty, in the present approach the conservativeness reduction is assured by allowing different local descriptions of the uncertainty. The prediction model can thus be interpreted as a multi-model description of the plant to be controlled...
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...
A robust asymptotic output command tracking controller is proposed to control the longitudinal motion of an aircraft model involving atmospheric gusts. The controller covers various flight conditions. The stability derivatives of the aircraft and the velocity of the aircraft are considered to be uncertain parameters. The output of the closed loop system tracks step and ramp type reference signals...
A new approach for the design of robust static output feedback controller for a class of discrete-time Lipschitz nonlinear systems with time-varying uncertainties is proposed based on linear matrix inequalities. The controller has also a guaranteed disturbance attenuation level (Hinfin performance). Thanks to the linearity of the proposed LMIs in both the admissible Lipschitz constant of the system...
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...
The problem of robust disturbance rejection is studied for the case of linear parameter varying (LPV) uncertain systems. The problem is solved using a proportional time varying state feedback controller of particular type being independent from the uncertainties. Sufficient, solvability conditions for the problem of robust disturbance rejection of the LPV uncertain system, are established. Under,...
In this paper we consider an extension of the well- known double pendulum (or pendubot) experiment. The difference is that we add uncertain dynamics to the plant by replacing the rigid motor shaft by an elastic one and by adding an electronic circuit at the input of the pwm amplifier. These additional dynamics make the stabilization problem much harder and basic stabilization methods like pole placement...
An adaptive output feedback neural network controller is designed, capable of rendering affine in the control uncertain MIMO nonlinear systems passive. Consequently, a linear output feedback is employed to stabilize the system. The controlled system need not be in normal form, or have a well defined relative degree. Under a zero state detectability assumption, uniform ultimate boundedness of the system's...
This paper addresses fault detection and isolation (FDI) problem using a sliding mode fuzzy observer on the basis of a uncertain Takagi-Sugeno (T-S) fuzzy model. First, a robust fuzzy observer with respect to the uncertainties is designed. The convergence of the fuzzy observer is performed by the search of suitable Lyapunov matrices. It is shown how to synthesis observers using a set of linear matrix...
In this paper, Hinfin fuzzy controller design based on fuzzy observer for active vehicle suspension is studied. After giving the nonlinear model of the active suspension, its representation by a T-S uncertain fuzzy model is discussed. The control strategy uses the Hinfin controller based on observer to estimate state with reject road disturbance. The closed loop stability conditions of the vehicle...
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...
Based on the Euler angles parameterization, a new approach for the attitude control of a vertical take-off and landing (VTOL) quadrotor aircraft is proposed. It rests on the combination of the backstepping technique and a nonlinear robust PI controller. The integral action gain is nonlinear and based on a switching function that ensures a robust behaviour for the overall control law. One of the strengths...
The speed of fault isolation is crucial for the design and reconfiguration of fault tolerant control (FTC). In this paper the fault isolation problem is stated as a constraint satisfaction problem (CSP) and solved using constraint propagation techniques. The proposed method is based on constraint satisfaction techniques and uncertainty space refining of interval parameters. In comparison with other...
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