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Consideration was given to construction of a robust control law for a class of scalar nonlinear dynamic plants under conditions of uncertainty and saturation of a control signal. The synthesis of the control law relies on the hyperstability criterion, L-dissipativity conditions and using in the main circuit an explicit reference model with two outputs and low-inertia filter-corrector.
This paper develops a multiple-model switching control based adaptive failure compensation scheme for hypersonic vehicles with some stuck actuators. The system uncertainties, caused by failures and unknown inertia parameters, are first parameterized. Then multiple adaptive dynamic estimators are designed, based on which, multiple adaptive control signals are designed using an error transformation...
To deal with the increasing penetration of uncertainties caused by renewable generations and uncertain loads, this paper proposes a novel robust optimization model for the optimal power flow (OPF) problem of power systems. In the model proposed, the generation and the network topology are co-optimized, and then the proposed robust optimal power flow with transmission switching (ROPF_TS) model is converted...
Conventional sliding mode control (SMC) is so-called robust to the system uncertainty and the external disturbance, however, it requires the knowledge about the upper bound of uncertainties and external disturbances. In the practical system, uncertainties and external disturbances are often unknown. A adaptive backstepping sliding mode controller (ABSMC) is proposed to deal with the uncertainty in...
The flexible joint robot manipulators provide various benefits, but also present many control challenges such as nonlinearities, strong coupling, vibration, etc. This paper proposes optimal second order integral sliding mode control (OSOISMC) for a single link flexible joint manipulator to achieve robust and smooth performance. Firstly, the integral sliding mode control is designed, which consists...
In this work, the control problem for type-2 T-S fuzzy system with packet dropouts is investigated by modeling the system as a switched system with an unstable subsystem. The mode-dependent average dwell time approach in both slow and fast switching sense is utilized for the analysis and synthesis. A sufficient condition is given by ensuring the packet loss rate no bigger than the specific fast switching...
This paper presents a new robust estimation of the lateral velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides...
The paper proposes the novel switched sliding mode control to enhance the performance of the control system with uncertainties and disturbances and adjust control behaviors to the status. With a small and moderate augmentation of the complexity, the performance of control systems is increased by the control method, which is with a new type of the reaching law — robust global high-speed finite-time...
This paper studies the issues of quasi-passivity, feedback quasi-passification for a class of switched nonlinear system using multiple storage functions. A quasi-passivity concept for a switched nonlinear system is proposed. Firstly, a state-dependent switching law is designed to render a switched nonlinear system quasi-passive. Secondly, quasi-passification is achieved by the design of a state-dependent...
This paper proposes a prescribed performance function based control method for trajectory tracking of non-holonomic mobile robots with collision avoidance. To design a simple controller, the prescribed performance function based algorithm that does not require the adaptive or the intelligent method to compensate the uncertainties is used. For the collision avoidance, the virtual heading angle which...
For a novel conveying mechanism which is highly nonlinear, highly time-varying and highly coupled, a synchronized sliding mode control with nonlinear disturbance observer is proposed to improve the synchronization performance and the disturbance-rejection performance. First, the kinematic analysis of the conveying mechanism is completed and the dynamic model with lumped disturbances of the conveying...
A robust direct adaptive attitude law is implemented in a attitude control system simulator. The meaning of robustness here is with respect to uncertainties in the inertia of the satellite. The controller has already been proved to be more robust than a corresponding robustly stabilizing static output feedback. The aim of the study is to show that in practice as well, only the adaptive controller...
In this article, the problem of sliding mode control (SMC) for uncertain discrete-time systems is investigated. The matched uncertainties in the state matrix are norm-bounded and can be estimated by the adaptive approach. Two situations are considered in this text: the state is measurable, and the state is unmeasurable. We chose an appropriate sliding surface such that the trajectories of states will...
A robust constrained multi-model switching control scheme is proposed for the near space vehicles (NSV) with variable sweep angle, unknown external disturbances, system uncertainties, input and output saturation. The sliding model disturbance observer (SMDO) is designed to estimate the compounded disturbances including unknown external disturbances and system uncertainties. To eliminate the effects...
The problem of the state tracking over a finite-time interval is concerned in this paper. Based on the average dwell-time method, both matched and unmatched cases are considered in the system. To make the state tracking error is finite-time bounded and the considered system achieves a weighted H∞ performance for the exogenous disturbance, the switching law is designed by the states error. Sufficient...
This paper investigates the sliding mode control for discrete time system with input delay and uncertainty. Two different hyperbolic functions are introduced during sliding surface design procedure to design a novel sliding surface, named as hyperbolic hybrid switching sliding surface. Because of the introduction of two hyperbolic functions, we artificially achieve the switching of sliding surface...
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...
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;...
This work develops a technique to design a feedback stabilizing control law for an unstable autonomous switched system. This method is analyzed and then applied to the DCDC buck converter when considering the uncertainty of the parameters in the model. Based on this model, a control law is design to allow the output voltage track a reference voltage when the load is changed. The control objective...
A continuous stirred tank reactor (CSTR) is typical of equipment found in the process control industry. The dynamics represent a wide class of second order nonlinear systems and thus as well as having specific industrial application, control of the CSTR is frequently used as a benchmark problem for application and testing of new control algorithms. Due to the high complexity of the CSTR system, the...
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