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In this paper, adaptive fuzzy control is investigated for nonlinear teleoperators with time-delays, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the scattering transformation. Compared with previous passivity framework, the communication delays are assumed to be stochastic time-varying. By feedback linearization, the...
In this paper, motion synchronization control of bilateral tele-operation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be stochastic time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two linear sub-systems: local master/slave position control and delayed motion synchronization...
In this paper, fault detection for networked control system with data packet dropout between sensor and controller is discussed. A fault observer structure is proposed, in which the error between system output and observer output at the last sampling time, when data packet is transmitted to the controller successfully, is used as the feedback of the observer if data packet is lost. It will be shown...
In this paper, fault detection for networked control system with data packet dropout between sensor and controller is discussed. A fault observer structure is presented, in which the previous system output transmitted successfully is used for feedback of the observer when data packet dropout happens. Suppose continuous data packet dropout is finite, the dynamics of the observer error can be modeled...
A robust model predictive control algorithm is proposed for linear systems with input saturation in this paper. Polytopic uncertain systems and structured time-varying uncertain systems are respectively considered. An infinite horizon worst-case performance function is used as on-line optimization objective. Using a saturated linear feedback controller, the control action can be obtained by solving...
A constrained robust model predictive control algorithm for linear systems with polytopic uncertainty is presented in this paper. At each sample time the algorithm aims at minimizing an infinite horizon worst-case quadratic cost function. Compared with existed techniques, the proposed algorithm uses a sequence of slack inequalities to construct a tighter upper bound of robust cost function. A control...
Two features are frequently encountered in control practice: the necessity of satisfying input/state constraints and the presence of external disturbances. This paper proposes an approach to design a feedback controller for disturbance rejection without violating constraints. Robust invariant ellipsoid is introduced and a sufficient condition for it is presented for discrete-time linear systems with...
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