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In this paper, a new adaptive variable structure control (VSC) scheme is proposed for nonlinear systems without a prior knowledge of control directions. By incorporating a Nussbaum-type function, the new adaptive VSC law can ensure the asymptotic convergence of the tracking error in the existence of non-parametric uncertainties. Simulation results are shown to validate the effectiveness of the proposed...
In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems with exogenous bounded disturbances. The proposed adaptive controller addresses adaptive stabilization. The framework is Lyapunovbased and the adaptive laws are characterized by Kronecker calculus. Finally, two numerical examples are provided.
In this paper, we develop a direct adaptive control framework for adaptive stabilization of the MIMO nonlinear uncertain systems, which can be represented as discrete-time normal form with input-to-state zero dynamics. The framework is Lyapunov-based and guarantees partial stability of the closed-loop systems, such that the adaptation of the feedback gain can stabilize the closed-loop system without...
In this paper, two new algorithms for feature detection are presented. The first one can detect edge and circle features accurately using the Gaussian-Newton optimization method to fit the circle parameters. It consists of two parts: the first is the segmentation of data of each scan which is followed by parameter acquisition. The algorithm is off-line in nature as the segmentation and parameter acquisition...
In this paper three methods of fuzzy control are compared on both their performance in the steady-state and the transient response. This is done by evaluating the performance in terms of raising time, overpass percentage and steady-state error percentage. The first control is based on a Fuzzy Inference System(FIS) Mamdani-type, the second on a Takagi-Sugeno(TS), and the last is a Fuzzy Sliding Mode...
This paper investigates the design of a neural network based controller to control the concentration of the overhead and bottom product in the model of a distillation column. Satisfactory computer simulation results of this approach are obtained.
The study on representing and processing uncertain information is an important subject in information era. Combined the gray system with neural network in processing gray uncertain problem, multi dimensions gray neural networks models such as GM
Traffic flow prediction is an important part of elevator systems. Generally, the traffic flow of elevator systems has high complexity and randomicity and the passenger flow possesses nonlinear feature, which is difficult to be expressed by a certain functional style. In this paper, we intend to construct a predictive model of traffic flow for elevator systems using time series prediction theory based...
Taking the quantitative dynamic mechanical performance of MEMS device into acount, the accurate 3D geometric model of MEMS devices is very important. In this paper, the concept of virtual process was put forward; and each single process step is simulated by computer graphics at first; in this way, the whole process and typical shape changes are contained in virtual process. Next, the problems involved...
The essence of opportunity-awaiting control is to give up some part of control chances to improve control precision. It is a new practical direction in stochastic control field. In this paper, the description of its cost functions is given, then its two elementary problems consisting of consistency of the cost functions and design of control strategy are discussed. Taking rectangular target as an...
This paper addresses the problem of vibration control of arbitrary flexible payloads using a smart robotic gripper comprised of actuating fingers and non-contact proximity sensors coupled to controllers. In order to the obtain an accurate reduced-order model of flexible payload and a low-order vibration suppression controller for it, this paper theoretically investigates two important questions pertaining...
This paper studies a global stabilization problem for a class of high-order nonlinear systems in a cascaded chain form. The high-order cascade systems considered in this paper are feedback non-linearizable and non-affine in the control variables without the strict triangular condition, and therefore this global stabilization problem cannot be directly handled by any existing method. It is shown that...
In this paper, we consider the H2/H∞design of 2D (two-dimensional) FIR multirate filter banks. A definition of the H2norm for 2D systems is proposed and a method for computing an upper bound of the H2norm is given. Based on this result and the existing Bounded Real Lemma, a solution to the H2/H∞design problem in terms of a set of linear matrix inequalities (LMIs) is given. With respect to the reconstruction...
Sun sensors are widely used in spacecraft attitude determination and control systems (ADCS), while an analytical model of a sun sensor would help in spacecraft ADCS design, analysis, and simulation. This paper derives an analytical model of a commercial medium sun sensor, which, to the knowledge of the authors, has not been seen in literature. In addition, the model is validated with experiments by...
In the problem of optimal fusing decisions, the probability of detection (PD) and the probability of false alarm (PF) for each detector must be known, but this information is not always available practically. In this paper we presented an adaptive fusion model which estimates the PDand PFadaptively by a simple counting. Reference signals are not given, so the fused decision of all detectors is considered...
This paper deals with the class of singular continuous systems. By decomposing the singular linear system with time-delay into slow and fast subsystems, LMI-based delay-dependent stability and stabilization conditions are established, and an LMI-based algorithm to design a memoryless state feedback control that stabilizes the system is provided. Two numerical examples are worked out to show the usefulness...
In this paper we determine the region in which the closed-loop eigenvalues of an LQ-optimal discrete time system are located. It has been shown that this region is bounded by four lines parallel to the real and imaginary axes, creating a square region. This region is symmetric with respect to the real axis of z-plane, but not with respect to the imaginary axis. Inequality constraints, which bound...
A full-dimension state predictive observer for discrete systems with control time-delay is first structured. Based on the state predictive observer, a modal predictive controller in an optimal control fashion is then designed. The frequency domain analysis shows that the time-delay term of the closed-loop system can be transferred to the outside of the system’s closed-loop framework by using the state...
An algorithm of predictive functional control based on grey ststem model is set. It analyzed how to set up grey system model, how to calculate the output of predictive model and the equation of control law. The simulation results show that the algorithm of predictive functional control have the characteristics of robustness, less Calculation and high control precision.
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