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For linear time-invariant normal controlled plant, under the assumption that controller and actuator adopt the method of event-time driven the system is a variable-sampling networked control system, and network-induced delay time is uncertain, it is less than or equals to a variable-sampling period. Basing on the dynamic output feedback the variable-sampling networked control system is modeled. Making...
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...
Based on convex combination technique and LMI (linear matrix inequality) method, the problem of state observers design for a class of switched interconnected large-scale nonlinear systems is studied. Interconnected terms are composed of linear part and nonlinear part. By using single Lyapunov function technique, a sufficient condition of stabilization for error systems is obtained and expressed as...
This paper presents an Hinfin state feedback controller design method for discrete-time piecewise affine (PWA) systems based on a piecewise quadratic Lyapunov function, and the partition information of the PWA systems is taken into account to reduce the design conservatism. Each polytopic operating region is outer approximated by a union of ellipsoids, then the minimum problem of the Hinfin performance...
This paper addresses the robust fuzzy control problem for nonlinear multiple time-delay large-scale systems in the presence of modeling errors and the state variables unavailable for measurement. The Takagi-Sugeno (T-S) fuzzy control system with modeling errors is adopted for modeling the nonlinear multiple time-delay large-scale systems and establishing fuzzy state observer. In terms of Lyapunovpsilas...
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...
The position tracking control of a missile electrohydraulic servo mechanism is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in load and parameters, a design method of adaptive fuzzy sliding mode control is presented. The adaptive fuzzy controller is introduced to approach the equivalent control of sliding mode control,...
This paper investigates robust and non-fragile Hinfin controller design for the affine fuzzy large-scale systems, which are composed of a number of T-S affine fuzzy subsystems with interconnections. According to the Lyapunov direct method and the decentralized control theory of large-scale systems, a sufficient condition in the form of LMIs which guarantees the existence of state feedback Hinfin control...
This paper provides a kind of new linear matrix inequalities (LMIs)-based algorithm for multi-objective H2/L2 performance controller synthesis of linear parameter varying systems with on-line measurable dependent parameters, which are assumed to vary in a plant parameter space that is a polytope. The new LMIs enable us to parameterize controllers without involving the Lyapunov variables in the formulation...
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...
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...
The problems of robust stability and L2-gain analysis and synthesis for a class of uncertain discrete-time switched systems with time-delay are addressed. Based on the constructive use of an appropriate switched Lyapunov function, switched systems with convex-bounded parameter uncertainties in all system matrices are investigated to make the linear switched systems are uniform quadratic stability...
The stabilization of switched nonlinear systems with pre-specified average dwell time is studied in this paper. An approach to controllers design using control Lyapunov function is proposed, the proposed switched controllers can stabilize the switched nonlinear systems with the pre-specified average dwell time. Furthermore, if there exists disturbances in switched systems, the proposed approach can...
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...
In this paper, the problems of relaxed robust quadratic stability conditions for a class of nonlinear systems described by T-S fuzzy model are proposed. Firstly, new quadratic robust stability condition is obtained by designing state feedback controller for T-S fuzzy systems with uncertainties. The condition is represented in the form of linear matrix inequalities (LMIs). Secondly, it presents dynamic...
A robust adaptive controller was developed in this paper, since the conventional adaptive robust controller cannot be directly applied on the nonlinear non minimum-phase system. An appropriate coordinate transformation was given to transform the uncertain nonlinear system with unstable zero-dynamics into an equivalent system whose zero-dynamics is stable. Considering unknown parameter and uncertainty,...
A nonlinear feedback controller is designed to make the first two state of a chaotic system called Josephson-circuits-coupled quantum cellular neural network track an arbitrary two-dimensional smooth reference signal. It is proved by means of Lyapunov function that this method can make the system approach to any two desired smooth orbits at an exponent rate. The synchronizations with Duffingpsilas...
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