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In this paper, the non-fragile finite-time tracking control problem is addressed for a class of uncertain linear systems with controller multiplicative coefficient variations. An adaptive control strategy is constructed to ensure that the system tracks a time-varying target orbit. The relationship of the bound of tracking errors and the size of uncertainties and controller multiplicative coefficient...
The design of adaptive sliding mode control is studied for a class of Markov jump systems(MJSs) with transition rate uncertainties and the partial failures of the actuators. Firstly, the mathematical model of MJSs with the uncertainty of the transition rate and the partial failure of the actuator is established. Secondly, the sliding surface is proposed by combining linear matrix inequality (LMI)...
This paper investigates the mean-square stabilizability of a networked discrete-time linear feedback system with multi-step random delay induced by a communication channel. It is assumed that the probability mass function (PMF) of the random delay is known. According to this model, an averaged channel transfer function and the spectral density of the channel uncertainty caused by the delay are obtained...
This paper considers the finite-time control problem for aircrafts with uncertainty. The dynamic model used here is in terms of Euler angles which can be obtained easily. The extended state observer (ESO) is designed to estimate the lumped uncertainty of the system. Based on this, the finite-time controller is designed by using the backstepping method. It proved that the state of the closed-loop system...
Disturbance Feedback Control (DFC) is a control technique that augments robustness of existing control systems with an extra feedback loop for the purpose of attenuation of disturbances and model errors. In this work, we propose a DFC design method based on output feedback control via Linear Matrix Inequalities (LMIs). A parametric uncertainty model is used to represent mismatches between a nominal...
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...
This paper addresses the design problem of robust scaled-H∞ controllers composed of state observers and state-feedback controllers for polytopic systems with time-invariant parameters. Even when designing robust H∞ controllers for time-invariant polytopic systems, multiple uncertainty blocks are often introduced to represent various design requirements, in particular, frequency domain requirements...
In this article, a fractional filter internal model control (EMC) based proportional integral derivative (PID) controller is designed for controlling the unstable inverted pendulum system. The system is stabilized by using a compensatory function to cancel out the unstable poles and zeros in the model. Now, the controller is designed for the stabilized model producing a PID controller along with fractional...
This paper presents a fault-tolerant control (FTC) with integration of neural network (NN) and multivariable sliding mode approaches for an air-breathing hypersonic vehicle (AHV), where both partial loss of effectiveness faults and bias faults in actuators are considered. A radial bias function NN (RBFNN) is derived using on-line updating law to approximate the lumped uncertainties, which consists...
This paper proposes a new approach for robust pole assignment in second-order systems with proportional plus derivative state feedback. The desired closed-loop poles set locates in an arbitrarily specified circular region, and it can be easily taken as a part of the design parameters based on geometric principles. The object can be converted into a global dynamical optimization problem based on geometric...
This paper aims to study the robust nonfragile H∞ controller design problem for a class of uncertain discrete-time nonlinear singular systems. A Takagi-Sugeno (T-S) fuzzy singular model with norm-bounded uncertainties is employed to represent a nonlinear plant. Basing on observers for the fuzzy model, we can construct a fuzzy controller with uncertainties existing in the implementation process. A...
This paper considers the problem of dynamic output feedback H∞ controller design for linear systems with input and output imprecision. In the controlled systems, the measurement and control signal transmissions from the plant to the controller and the controller to the plant, respectively, are assumed to be imprecise, and norm-bounded uncertainties are utilized to model the phenomenon of the imprecise...
This paper investigates the problem of adaptive almost disturbance decoupling for a class of generalized high-order uncertain nonlinear systems. The control strategy is on the basis of continuous domination and delicate adaptive technique and the adaptive state-feedback controller is one-dimensional irrespective of the number of unknown parameters. An appropriate nonlinear function and transformation...
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform...
In this paper, we study the problem of robust H∞ control for a class of the time-delay singularly perturbed systems with norm-bounded parameters and uncertain parameters. The sufficient conditions for the existence of H∞ robust controllers are given based on the matrix inequality, so that the closed-loop system is robust to all admissible uncertainties and satisfies H∞ performance index. Furthermore,...
In this paper, aiming at a class of systems subject to both state and input uncertainties, in which there is a random intermittent actuator fault, a passive dynamic output feedback fault-tolerant control strategy is proposed. The controller designed in this paper can ensure the stability of fault-free closed-loop system, moreover, can stabilize the closed loop system in finite time and guarantee the...
The recent paper [9] studied the cooperative robust output regulation of linear multi-agent systems with arbitrary parametric uncertainty via the distributed output feedback control, where the network is assumed to be fixed. In this paper, we further show that the same controller is also efficient for the more general uniformly connected switching network. In contrast to the traditional quadratic...
An adaptive model predictive control (MPC) is proposed in this paper to stabilize linear constrained systems with parametric uncertainties. The proposed control is designed by combining linear MPC and an adaptive updating law for uncertain parameters. It is proved that, by using the proposed adaptive MPC, states of the linear system can be stabilized, and the estimated parameters are bounded. The...
This paper considers the stabilization problem for one-sided Lipschitz nonlinear differential inclusion system with stochastic disturbance. Firstly, the stability theory of stochastic differential equation is extended to stochastic differential inclusion. Then, the feedback law is constructed to make the closed-loop system exponentially stable in mean square. Finally, two numerical examples are simulated...
This paper considers the global state-feedback stabilization for a class of nonlinear systems with multiple uncertainties. Different from the existing related literature, the systems under investigation are subjected to unknown input bias, and allow unknown control directions and parametric uncertainties. In this paper, an adaptive state-feedback scheme is proposed, not only to deal with the multiple...
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