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Autonomous swarm control, which is expected to be able to handle multiple unmanned vehicles (UxVs), is an important technology that can be applied to many operations and incorporated in many systems. For operations in real environments, we have to consider severe conditions under which communications between UxVs may be inadequate and the environment changes unexpectedly. In addition to optimality,...
We proposed two adaptive control methods for speed control of brushless direct current(BLDC) motor disturbed by two kinds of disturbances in this paper. The dynamic model of BLDC motor possessing either parametric uncertainties disturbed by unknown with known bound external disturbances or parametric uncertainties disturbed by unknown with known structure model external disturbances is considered,...
Article deals with the problem of simulation modeling of robust control system for nonlinear plants with the input signal saturation, functioning under a priori uncertainty conditions and in the presence of several statement delays. With the help of computational experiments, the quality of the control system operation under various initial conditions of the controlled plant is illustrated.
This paper proposes a control method that compensates for a system with time delay by predicting the future states of the plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method also considers the uncertainty of the model in terms of the modeling error, which might cause the predicted value to degrade the performance of the...
An adaptive tracking control is proposed for a class of constrained nonlinear systems with hysteresis and uncertainty. Hysteresis and uncertainty may limit system performance such as giving rise to undesirable accuracy or oscillations, even leading to instability. First, Bouc-Wen model is used to describe the hysteresis, and the upper bound is derived. Then, a Barrier Lyapunov Function (BLF) is adopted...
This paper is aimed at the uncertain dynamics and kinematics of the master-slave manipulators for nonlinear bilateral teleoperation system in the presence of constant time delays and external disturbances in the task space. On the basis of neural networks adaptive control methods, we propose an integral-type neural networks adaptive sliding-mode controller to solve the problem of dynamic uncertainties...
This paper proposes an adaptive integral back-stepping control scheme for tracking control of 2-DOF (Degree of Freedom) helicopter. The helicopter is an important model from the control prospective due to its nonlinear behavior, highly cross coupling effects and instability in open loop. Classical control methods (PI, PD and PID Controllers) and baseline controllers with a linear quadratic regulator...
The experimental method of a robust adaptive trajectory tracking control of nonholonomic wheeled mobile robots using only web camera is proposed. This paper proposes an experimental system for using video camera images in MATLAB / Simulink(R)using donated software. We make a simple contrivance, the coordinates information which can be given by video camera image can take into MATLAB/Simulink, and...
Disturbance Feedback Control (DFC) is a technique in which an existing controller is augmented with an additional loop. It was originally proposed by Fuji Electric in 1980, and has been applied in Factory Automation (FA). This paper proposes a robust DFC including the anti-windup controllers for process control. The proposed method is designed in two steps; firstly, the robust DFC without saturation...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
A complete overview in recent years, concerned with the classification, control methods, applications and future works for two-wheeled mobile robot (TWMR), is presented. There have been three main types of TWMRs: input coupling, without input coupling and reaction wheel. For the second model (TWMR without input coupling), a variety of control methods have been proposed from the classical method PID...
In this paper, an adaptive non-singular terminal fault-tolerant controller has been designed for rigid spacecraft attitude maneuver. The proposed controller is based on the sliding mode scheme. An adaptive learning algorithm is applied for the estimation of the uncertainties. The non-singular terminal sliding surface is introduced to guarantee the system states converge to the desired states in finite...
A 6DOF mathematical model of the “H” type quadrotor prototype is developed by the Newton-Euler method to analyze the complex nonlinear position and attitude control problems in this paper. Then the PID controllers are designed for the control of the horizontal position of the quadrotor. The adaptive backstepping sliding mode controllers are designed for the altitude and attitude control of the quadrotor...
A new adaptive compensation control method was developed to improve the control performance of multivariable system which affected by uncertainty. In this paper, a basic optimal LQR control law was compensated by the augmented model reference adaptive method under the framework of feedback control structure, to improve the dynamic and anti-interference performance of the system which affected by uncertainty...
In this paper, the consensus for a class of nonlinear heterogeneous multi-agent systems (MAS) subject to unknown external disturbances is investigated. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, a novel distributed adaptive control laws is designed by means of linear sliding mode (LSM). One...
In this paper, the distributed adaptive finite-time consensus tracking control algorithm is proposed for multi-AUV(autonomous underwater vehicle) systems. Firstly, the graph theory is used to describe the communication topology of multi-AUV system. Secondly, a nonsingular fast terminal sliding mode is designed and the distributed control law is constructed for the multi-AUV system based on the force...
This paper proposes a novel integrated guidance and autopilot (IGA) method for hypersonic vehicles in dive phase. The third order back-stepping L1 adaptive control is implemented to deal with the uncertainties of aerodynamics coefficients, degradation of control surface efficiency and unmatched time-varying disturbances in the nonlinear flight dynamics. Furthermore, a second order actuator dynamics...
When a follower satellite is tracking the leader satellite, the communication delay will affect the tracking performance. To solve this problem, we build a dynamic model based on directed communication topology. Then we use neural network to obtain the real-time estimate of model uncertainties and external disturbances, and use adaptive control to compensate for residual effects. Based on nonsingular...
For a class of chaotic systems with uncertain nonlinear time-delay functions and exogenous disturbance, the problem of observer-based adaptive synchronization is investigated. Based on Lyapunov-Krasovskii fucntional method, a delay-free observer is presented by using sliding mode control and adaptive control techniques. Two numerical simulations are given to show the effectiveness of the proposed...
This paper investigates robust adaptive control of uncertain switched linear systems considering disturbances. Two modifications of the adaptive law of switched linear systems [1] based on parameter projection and a leakage approach are developed to guarantee the stability of the closed-loop switched linear system: a projection law that requires knowledge of the bounds of the parameter estimates;...
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