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Estimating model parameters is a crucial step to understand the behavior of biological systems. To perform parameter estimation, a commonly used formulation is the least square method that minimizes the mean squared error. This method finds the model parameters that minimize the sum of the squared error between experimental data and model predictions. However, such a formulation can misguide parameter...
This paper presents a new method for designing the weights used for development of robust controllers for a quadrotor model with parameter uncertainty. The weights alongside the controllers are developed for attitude and altitude tracking by resolving a constrained non-linear minimization problem formulated over the conventional mixed sensitivity optimization S over T method. The optimization routine...
This paper is devoted to the consensus problem of fractional order multi-agent networks. A LMI condition for H∞ control of the fractional order uncertain systems is obtained. Based on this LMI condition, the H∞ consensus condition for fractional order multi-agent network is deduced by using graph theory and robust H∞ control theory. Finally, by simulations, the effectiveness of the LMI condition and...
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 choice of poses for camera calibration with planar patterns is only rarely considered — yet the calibration precision heavily depend on it. This work presents a pose selection method that explicitly avoids singular pose configurations which would lead to an unreliable solution. Consequently camera poses are favoured that reduce the uncertainty of the calibration parameters most. For this purpose...
Robust state estimation of a discrete time-varying uncertain system is investigated in this paper when there are not only process and measurement noise, but also parameter uncertainties which affect a state-space model arbitrarily. The expectation minimization based robust state estimation is generalized to uncertain linear systems with a known deterministic input signal. The derived robust estimator...
Aiming at attitude control of the advanced Blendwing-body (BWB) layout aircraft with aerodynamic, center of gravity and inertial parameters' uncertainties, a new improved fast non-singular terminal sliding mode control (IFNTSM) method is proposed in this paper. Compared to the conventional terminal sliding mode (TSM) control method, IFNTSM guarantees to reach the equilibrium in an improved finite...
FGATool is a MATLAB tool for graphical analysis of systems represented with transfer functions having orders of integer and fractional numbers. It offers easy-to-use tools for students and researchers working in the field of system analysis. This paper presents the motivation of its development, an overview of the uncertainty module of the toolbox and the relation with existing tools concerned to...
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,...
As a Minkowski summation of several linear segments in the real space, zonotopes have been widely used in set-membership identification (SMI) for uncertain system because of its advantages, such as higher accuracy, compactness of representation and less complexity. A new SMI approach is proposed in this paper to develop a control oriented model based on zonotope, with which complex mathematical calculation...
This paper investigates the event-triggered consensus for linear continuous-time uncertain multi-agent systems. The parameter uncertainty is assumed to be time-varying but norm-bounded. An event-triggered consensus protocol is proposed based on the predictive method to make the multi-agent system achieve consensus without continuous communication among agents. A necessary and sufficient condition...
In this article, after introducing fuzzy-dual numbers, functions and functionals, the optimization of a fuzy-dual functional is considered through an extension of Euler's condition. Then, once uncertainty is imbedded in a fuzzy-dual dynamical system, the optimization of such systems is considered, leading to an extended Hamilton-Jacobi-Bellman equation to characterize optimal fuzzy-dual solutions.
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, 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,...
The distributed fusion filtering problem is addressed for stochastic uncertain systems with correlated noises, multi-step transmission delays and packet dropouts. Stochastic uncertainties in the state equation and measurement equation, one-step auto-correlated and cross-correlated noises as well as multi-step delays described by some Bernoulli distributed random variables are simultaneously considered...
In this paper, a robust control method is proposed for a class of fractional-order nonlinear system with unknown system parameter based on Lyapunov direct method. The Caputo definition is used to describe the fractional-order dynamic system. The controller is simple and enables asymptotically stability to be achieved without the computation of the conditional Lyapunov exponents. Finally, simulation...
In this paper, an off-policy reinforcement learning method is developed for the robust stabilizing controller design of discrete-time uncertain linear systems. The proposed robust control design consists of two steps. First, the robust control problem is transformed to an optimal control problem. Second, the off-policy RL method is used to design the optimal control policy which guarantees the robust...
We consider a class of stochastic nonlinear uncertain system containing uncertainty which satisfies matched conditions. Its zero state is asymptotically stable. Based on the bound information of these uncertainties, the adaptive robust controller is proposed in order to guarantee that the responses of the closed-loop systems are globally bounded in probability. A numerical example is given to illustrate...
This paper improves a stabilization condition of one-step receding horizon control for discrete-time linear systems with model uncertainties. By using matrix inversion lemma, the improved stabilization condition is derived in terms of a matrix inequality associated with the terminal-time weighting matrix of the cost. A numerical example verifies that the proposed condition guarantees the larger maximum...
The traditional pursuit-evasion game considers a situation where one or more pursuers try to catch an evader, while the evader is trying to escape. Instead of moving entities, a more general scope of the pursuit-evasion game could also consider systems of systems. In a system consisting of many subsystems, when one subsystem decides to dissent and operate in a manner that is inconsistent with the...
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