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In this note, we consider stability condition with multiple Lyapunov functions for switched and hybrid systems. By using the idea of evaluating "the average value of multiple Lyapunov functions" during the activation period of each subsystem, we propose a new Lyapunov stability condition, which complements the existing stability conditions that evaluate the value of multiple Lyapunov functions...
This paper presents a global control strategy to further improve the feasibility of the cart and pole system control. Two different kinds of nonlinear functions in cart and pole system models are analyzed at large to demonstrate motivation of global control application. Global system models are first proposed to represent the various nonlinear dynamics of the cart and pole system. Consequently, the...
This paper is concerned with a grasping task by means of two one-link flexible arms. To accomplish this task, we propose simple boundary control based on the dynamic model, which consists of partial differential equations (PDEs) and ordinary differential equations (ODEs) subject to the geometric constraints. Since the data, which is needed in the implementation of the controller, can be obtained by...
On basis of a modified "on-off" damping law, an inverse model based semi-active damping controller is proposed for implementing an asymmetric control suspension design with symmetric MR dampers. The inverse model control has potential to compensate the hysteresis effects of MR-damper and realize the semi-active force tracking control. The controller is formulated in current form by integrating...
In this paper we consider discrete time varying linear systems with matrix coefficients in fixed set and we describe the set of all possible Lyapunov exponents for the system. We describe this set in terms of generalized spectral sub radius and the generalized spectral radius of the set of possible values of the coefficients.
In this paper, the S-constrained controllability to a target set Sigma is studied for linear continuous-time systems with state and input constraints. A proximal aiming controller design scheme is presented, which involves a certain modification of the original dynamics. The modified dynamics in effect provide state constraint removal. Both a feasible near-set of initial states associated with the...
This paper addresses issues on coding design in the context of control of systems equipped with low-energy sensors networks. We particularly focus on issues of low energy consumption (energy-aware). To this aim, we propose to use a coding strategy with the ability to quantify and to differentiate stand-still signal events from changes in the source (level crossing detector). Coding is effectuated...
This paper is concerned with the design of signal predictor in oversampled signal predictive subband coding. Spectral analysis of the prediction error system is used to derive an H2 optimization formulation of the design problem, and an LMI based method is obtained to design the H2 optimal signal predictor that minimizes the variance of quantizer input signals. Simulation examples are presented to...
This paper studies the problem of finite frequency Hinfin filter design for linear time-invariant discrete-time systems with polytopic uncertainties. Generalized Kalman-Yakubovich-Popov (GKYP) lemma is exploited to formulate the filter design problem in finite frequency domain. A design method is presented in terms of solutions to a set of linear matrix inequalities (LMIs). A numerical example is...
This paper considers the control problem of a popular magnetic levitation system, which is open-loop unstable and strongly nonlinear associated with the electromechanical dynamics. The system dynamics is governed by a third-order nonlinear differential equation. The overall controller is designed through a backstepping manner by combining both the robust control and disturbance observer techniques...
In this paper, we present new self-organized networks to extract optimal features from multidimensional Gaussian data while preserving class separability. For this purpose, we introduce new adaptive algorithms for the computation of the square root of the inverse covariance matrix Sigma-1/2. Then we construct self-organized networks based on the proposed algorithms and use them for optimal feature...
This paper proposes the design of a nonlinear model predictive control (NMPC) scheme for the regulation of the acetic acid concentration (leading to the biomass growth maximization) during high cell density fed-batch cultures of Escherichia coli. For NMPC purposes, an unstructured model for the growth is first derived with respect to the major metabolic pathways: oxidative growth on glucose, fermentative...
An adaptive H∞ control for positioning mechanism with input nonlinearity is proposed in this paper. It is assumed that the input nonlinearity can be described as unknown parameters term and bounded disturbance term, an adaptive H∞ control method is given. Proposed control strategy does not include a discontinuous function, therefore, it can avoid to cause the chattering phenomena. Moreover, in the...
In this paper, we propose an output tracking control technique for nonlinear systems. First, the Tagaki-Sugeno (T-S) fuzzy model is adopted for modelling the discrete-time nonlinear system. Second, we combine a new design concept called virtual-desired-variable (VDV) synthesis and the model predictive control (MPC) strategy to develop fuzzy observer-based output tracking controller. Sufficient conditions...
Increasing industrial competence suggests to develop and implement more complex control strategies in manufacturing environments for achieving better performance requirements. In this paper, a multi-estimation scheme for adaptive discrete control is applied to a practical milling system in order to minimize process and machine malfunctions. The different models of the scheme to be estimated are obtained...
This paper presents a design of a sliding mode observer (SMO) combined with a Luenberger observer so that the fault-detection residual remains sensitive to incipient faults while being robust to disturbances. In contrast with the conventional design of the SMO, the design presented in this paper is based on transformation of the system into two subsystems. One of these subsystems is free from disturbances...
A fault identification study is made to identify five common faults in hermetic compressors manufactured in a large plant. Sound power level is used as raw data. Sound measurements were made in a room where microphones were located at different places of a virtual hemi-sphere, designed according to international standards. Obtained data is analyzed using the artificial neural networks method, where...
In this paper, the output-feedback stabilization problem is investigated for the first time for a class of stochastic nonlinear systems whose zero dynamics may be unstable. Under the assumption that the inverse dynamics of the system is stochastic input-to-state stabilizable, a stabilizing output-feedback controller is constructively designed by the integrator backstepping method together with a new...
The problem of tracking the position and attitude of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account, saturation of rudders is examined, and a condition under which saturation will not occur is derived by simulation studies. The effectiveness of...
This paper outlines the concept of a laboratory brake-testbench for education and research. It was developed to investigate the deceleration behaviour of a car's wheel during braking. The major components of the testbench are a driven wheel which is equipped with a disc brake and a rotating steel cylinder. The testbench is mainly used to test alternative antilock braking algorithms and to teach students...
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