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This paper investigates the generalized nonlinear resilient H∞ filter design problem for discrete-time systems with uncertain and nonlinear parameters. The uncertain parameters are assumed to have norm-bounded form and the nonlinear parameters are assumed to have Lipschitz form. We aim to design a generalized nonlinear resilient H∞ filter such that the stability and the H∞ performance of filtering...
This paper studies a formation control problem for multiple mobile robot systems with model uncertainty. The formation is achieved by a distributed robust predictive control algorithm. Firstly, a distributed model of the formation system is derived by using the path tracking error dynamic of single mobile robot. Considering the error of linearization and measurement error caused by the accelerometer...
This paper presents the implementation of a nonlinear robust controller in a boost converter, which operates in an uncertain environment. The proposed controller deals with uncertainties, which are unknown but bounded, and occur in the input voltage and the output pure resistive load. Mathematical proof of the efficiency of the controller and quantitative results about the amount of the uncertainty...
In this paper, a power system model is proposed to achieve a decentralized voltage control scheme. A stabilizing controller design is presented to solve the voltage regulation problem with output feedback. The model is intended to be an exact representation of frequency and terminal voltage, which will allow us to cope with time-varying parameter uncertainties, and also unknown design parameters of...
This paper deals with a design problem of variable gain robust model following/tracking control for a class of uncertain linear systems. The new proposed variable gain robust control system is composed of fixed gain controllers and variable ones. In this paper, LMI-based sufficient conditions for the existence of the proposed variable gain robust controller are given. Finally, a simple numerical example...
A simple but versatile approach to robust control design for linear systems with system and exogenous disturbances is proposed. The proposed approach is based on the technique of linear matrix inequalities and the concept of invariant ellipsoids. The approach is easily implemented computationally, its efficacy is demonstrated on the benchmark example of the F-16 aircraft model.
A mathematical model and a state feedback controller for uncertain networked control systems with disturbances and short random delays are investigated in this paper. The uncertainty of transmission delay is translated into the uncertainty of coefficient matrix in the model, and the uncertainty parameter is described by a Poisson distribution function. Then, by using the Lyapunov stability theory...
In this paper, we propose a control model based on NCS theory to solve the vehicle-following problem, which presents both issues: the difficulty in the identification process and a lossy network. To deal with network losses, we use a mode dependent Markov jump linear filter coupled with a statefeedback controller. To handle parameter uncertainty, a polytopic representation of the car model is presented...
In this paper, we study the fault detection filter (FDF) design problem for linear discrete time-varying (LDTV) systems with model uncertainties and norm bounded unknown inputs. An alternative indefinite quadratic performance criterion is introduced in lieu of the standard H∞ performance, and the design issue is converted to an optimization problem of finding the positive minimum of the new defined...
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...
This paper investigates the receding horizon H∞ guaranteed cost control for a class of norm-bounded uncertain systems subject to actuator saturation. A sufficient condition for the existence of the controller is proposed to handle the amplitudes of control input signals and guarantee both of the H∞ norm and quadratic cost performance for all admissible uncertainties and external disturbances. Furthermore,...
This paper presents a novel approach for an interval-based gain scheduling control design aiming at a guaranteed stabilization of the system dynamics over a predefined time horizon. Due to the goal of asymptotic stability, the design aims at the temporal reduction of the widths of intervals representing worst-case bounds of the system states at a specific point of time. The main idea of the control...
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 recent years, wireless power transfer systems have successfully been used in various industrial applications due to their contactless power transfer feature. However, these systems behave as higher order resonant networks and hence are highly sensitive to changes in system parameters. Traditional PID controllers often fail to maintain satisfactory power regulation in the presence of parametric...
This paper proposes a robust fault detection observer based on zonotopes for discrete-time uncertain systems with sensor faults and unknown but bounded uncertainties. The main advantage of this method is that the observer gain of the robust zonotopic observer is designed to be robust against bounded uncertainties while being sensitive to faults. In order to detect sensor faults with low magnitudes,...
In this paper, the problem of the robust dissipativity is studied for a class of uncertain neural networks with time-varying delays. By constructing appropriate Lyapunov-Krasovskii functional, using linear matrix inequality(LMI) technique, several new criteria are obtained, moreover, these conditions are expressed in terms of LMI and can be easily checked by Matlab LMI toolbox. Finally, one example...
In this paper, the event-triggered filtering problem is investigated for a class of nonlinear multi-rate systems. The nonlinearity is represented by a linear form with a norm-bounded uncertainty. In order to deal with the uncertainty resulting from the nonlinearities, a new augmentation approach is proposed to transform the multi-rate nonlinear system into a single-rate system. Based on the measurement...
This paper focuses on the H−/H∞ fault detection observer design issue in the finite frequency domain for a class of uncertain descriptor systems. To detect faults effectively for systems with model uncertainties and in the presence of unknown disturbances, a new fault detection filter is designed to satisfy a finite frequency H−/H∞ performance index simultaneously. First, two basic performance analysis...
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, we consider the robust sliding mode control problem for a class of systems with norm bounded parametric uncertainty and external disturbance. Based on Lyapunov stability theory and linear matrix inequality approach, the proposed control scheme can achieve both asymptotic stability and some robust performances, and the corresponding robust controller that assures the occurrence of sliding...
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