The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The design of a novel adaptive finite-time stable control system for high-order systems with parameter uncertainties is presented. Specified dynamics with recursive structure is employed as the finite-time convergent target system, thus leading to a systematic design process for systems with arbitrary order. Estimators for unknown parameters are constructed using immersion and invariance (I&I)...
In this paper, we study H2 performance limitation of the nonlinear non-minimum phase systems with a 'new' structure that the linear combination of all the states of the systems serves as the input of the dynamics where the unstable zero-dynamics is. It is shown that the best attainable tracking performance of the above system is equal as the minimum energy of stabilizing the 'extended' dynamics which...
This paper designs a fuzzy incremental hierarchical sliding mode controller for a class of under actuated systems. By capturing the physical structure of the class, the hierarchical sliding surfaces with incremental structure are designed as follows. The first-layer sliding surface is firstly defined. Then, the first-layer sliding surface and one of the left states are employed to construct the second-layer...
This article presents a new adaptive controller for a class of uncertain multiple-input multiple-output nonlinear systems with input magnitude and rate saturation. To deal with input saturation, an auxiliary system is constructed. With the auxiliary system, a modified tracking error is defined and used in parameters update laws. The stability properties of the proposed controller are obtained via...
This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the sliding surfaces is designed. The control law is deduced from the Lyapunov direct method. The stability of the inner sliding surfaces is proven. By fusing the priori knowledge about the class...
A new stable sliding mode control method for a class of underactuated mechanical systems with saturation is proposed in this paper. Two state variables of the underactuated system are chosen to construct the first-layer sliding surface. Then, the first-layer sliding surface and one of the left state variables are used to construct the second-layer sliding surface. This process continues till the last...
A new robust controller using sliding mode control method for a class of underactuated mechanical systems with mismatched uncertainties is proposed in this paper. Two state variables of the underactuated system are chosen to construct the first-layer sliding surface. The first-layer sliding surface and one of the left state variables are used to construct the second-layer sliding surface. This process...
This paper presents a control scheme of a class of under-actuated systems with saturation using hierarchical sliding mode. This class with a single input and multiple outputs is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding mode surfaces is developed as follows. The sliding surface of every subsystem is defined. Then the sliding surface...
This paper addresses the trajectory tracking problem for an redundantly-actuated omnidirectional mobile manipulator system with uncertainties and disturbances. The proposed algorithm is robust adaptive control strategy and the parameter estimates are tuned online. First, for designing controller, the conservative upper-bounded function of dynamic model of omnidirectional mobile manipulator system...
To swing up a Pendubot, a pendulum robot, this paper presents a hierarchical sliding mode controller with limited control torque. The structure characteristic of the Pendubot system is that it can be treated as two subsystems. Thus, the hierarchical structure of the sliding mode surfaces is designed as follows. The sliding mode surfaces of the two subsystems are defined at first. The sliding mode...
With the development of multicast service in the Internet, much attention has been drawn to multicast congestion control and analysis. Multicast traffic poses new challenges to the design of Internet congestion control protocols and system stability analysis. The rate control problem of feedback-based sessions on the coexistence of both unicast and multirate multicast traffic architecture networks...
This paper proposes a hierarchical sliding mode controller for series double inverted pendulums system. This provides a simple method to control a class of under-actuated systems with three subsystems by sliding mode control. Firstly, the given system is divided into three subsystems according to its structure characteristic. Then, the 1st -level sliding mode surface is defined for every subsystem...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.