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The parametric non-strict-feedback and unmatched uncertainty of surface ship straight-line tracking control was considered. With the help of Lyapunov stability theory, considering the characteristics of the rudder system, a novel adaptive stepping algorithm is proposed, which could guarantee the closed-loop system to be uniformly ultimately bounded. The result of simulations present the validity and...
A novel robust Hinfin decentralized intelligent control (RHDIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller with new learning algorithm. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory...
A direct adaptive control design method was proposed for a class of uncertain single-input single-output (SISO) nonaffine nonlinear system using multilayer neural networks (MNNs). The proposed approach used MNNs to approximate and adaptively cancel the unknown part of the inverse functions. Then, Inverse design, backstepping design, and feedback linearization techniques were incorporated to design...
Based on Takagi-Sugeno fuzzy model, this paper adopts the piecewise fuzzy Lyapunov function into the analysis of nonlinear discrete systems with parametric uncertainties. Firstly, a new sufficient condition to check the stability of closed-loop discrete T-S fuzzy systems is proposed after the definition of a discrete piecewise fuzzy Lyapunov function. This condition only needs to satisfy the condition...
The design of robust Hinfin controller for a class of uncertain neutral systems with varying state delay and input control delay is considered. The uncertainties are norm-bounded and the states of the uncertain neutral systems are available. Combining the linear matrix inequality with Lyapunov functions by proper assumption, the existent conditions of quadratic stabilization and Hinfin state feedback...
The controller design of the networked control systems with multiple-packet transmission is studied. In controller side a set of observers are used to reconstruct system state, and the state of observer is used as state feedback. Using Lyapunov approach, the sufficient condition of asymptotic stability of closed loop system is proposed, and parametric design method of state feedback control matrix...
A more precise T-S fuzzy model was established to approximate the nonlinear model of ship rolling movement. Based on fuzzy partition of the input space, two new sufficient conditions under which the closed-loop T-S fuzzy control system is asymptotically stable in the large were obtained by constructing piecewise smooth Lyapunov function. The new sufficient conditions, which only required finding a...
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