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This paper considers a nonsingular terminal sliding mode control problem for the attitude tracking of a quadrotor. To solve the chattering problem of sliding mode control, a novel terminal sliding mode controller based on a second-order sliding mode algorithm known as super-twisting algorithm is proposed. With the help of the proposed terminal sliding mode controller, the pitch, roll and yaw angles...
In this paper, the problem of robust tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator saturation and uncertainties is conducted. In order to guarantee that the velocity and altitude to track their reference commands, an adaptive anti-up control strategy is presented based on sliding mode control method. The adaptive...
Various sources of disturbances exist simultaneously in robotic systems, such as vibrations, frictions, measurement noises, and equivalent disturbances from unmodeled dynamics and nonlinearities. However, most results on anti-disturbance control focus on only one type of disturbances, which cannot reflect the real applications and may lead to design conservativeness due to partial use of the disturbance...
This paper presents a new approach for hiding information in digital audio based on the audio-to-image wavelet transform (A2IWT) and vector quantization (VQ). In our scheme, the cover audio signal is first transformed into an image by utilizing the wavelet transform and re-sampling the coefficients, then the secret data are embedded in the obtained image using a VQ-based image steganographic scheme,...
The problem of the robust stability and non-fragile control of closed-loop system is studied for the system with structured uncertainties both in plant and controller. Non-fragile robust stability and performance sensitivity of the closed-loop system with left coprime factor perturbations and right coprime factor perturbations are investigated respectively, and the sufficient conditions are given...
Dynamic optimization problems (DOPs) are those whose specifications change over time during the optimization, resulting in continuously moving optima. Most research work on DOPs is based on the assumption that the goal of addressing DOPs is to track the moving optima. In this paper, we first point out the practical limitations on tracking the moving optima. We then propose to find optimal solutions...
This paper considers the stabilization problem for a nonlinear system with composite uncertain disturbances using disturbance observer based control (DOBC) approach. Instead of only one type disturbance such as harmonic or constant disturbance is concerned, the composite disturbances estimated consist of two parts, the first is harmonic with known parameter, the second is supposed to be system uncertainty,...
In this paper, we will study the robust stability of time delay systems. Under some proper assumptions, we give the edge theorem of time domain version for the delay systems with rank-one uncertainty, which extends the frequency domain edge theorem for delay systems to the time domain case.
In this paper, existences of real roots for the family of interval polynomials with one or two variables are discussed. We proved that for the family of interval polynomials with one variable, it has no real root if and only if four vertex point polynomials have no real root, and for the case of two variables, we just need to test whether eight polynomials have real root. This method will simplify...
This paper deals with the robust stability of time-invariant systems with delays. Using the frequency domain edge theorem developed by Fu, Olbrot and Polis (IEEE Tran. Automat. Contr. 34(1989), 813-820), which presents that the robust stability of a polytope generated by the convex combination of a number of quasipolynomials is equivalent to the stability of the edge quasipolynomials, the authors...
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