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The problems of stochastic stability and sliding mode Hinfin control for a class of nonlinear matched and mismatched uncertain systems with stochastic jumps are considered in this paper. The uncertain system under consideration may have mismatched norm bounded uncertainties in the state matrix. The transition of the jumping parameters in the systems is governed by a finite-state Markov process. A...
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...
An adaptive steady predictive functional control algorithm using the orthogonal Kautz function base has been designed in this paper. Performance of the closed-loop system is discussed, and the stability condition is given based on Lyapunov stability theory. A new improved parameter compensating algorithm depended on genetic algorithm is introduced. The simulations verified the given strategy.
This paper addresses the global output feedback regulation problem for robot manipulators in the presence of actuator constraints, and a very simple bounded proportional-derivative (PD) plus desired gravity compensation scheme is formulated as solution to this problem. The global asymptotic stability of the closed-loop system is proved with Lyapunovpsilas direct method. Simulations performed on a...
A neural network based robust adaptive control design scheme is developed for a class of nonlinear systems represented by input-output models with an unknown nonlinear function and unknown time delay. By on-line approximating the unknown nonlinear functions with a three layer feedforward neural networks, the proposed approach does not require the unknown parameters to satisfy the linear dependence...
In this paper, both indirect and direct adaptive fuzzy controllers with variable structure system (VSS) and Hinfin performance are proposed for a class of nonlinear time-delay systems with unknown dynamics nonlinearities and external disturbances. It is assumed that the unknown nonlinear function of state-delays is bounded by a high-order function with unknown gains. An adaptive fuzzy controller design...
This paper investigates the problem of robust stochastic exponential control for a class of uncertain Ito-type stochastic Lurie systems with time delays. Based on Lyapunov-Krasovskii approach, a sufficient condition for the existence of a linear memoryless state feedback controller is formulated in terms of a linear matrix inequality (LMI). For all admissible parametric uncertainties, the desired...
The delay-dependent H-infinity control problem for linear descriptor systems with state delay is considered. A delay-dependent condition for the existence of H-infinity memorial state feedback controller is presented in terms of matrix inequality such that the resulting closed-loop system is asymptotically stable and guarantees H-infinity performance index, and this condition fits the general descriptor...
This study deals with guaranteed cost control problem for discrete time nonlinear systems with parameter uncertainties. The Takagi and Sugeno (T-S) fuzzy model with parameter uncertainties is employed to represent an uncertain discrete time nonlinear system. Based on the structural information in rule base, a piecewise output feedback controller design method is introduced. Sufficient condition for...
The problem of the non-fragile dissipative control for the nonlinear discrete systems is dealt with. The T-S models is constructed for nonlinear systems, which makes the model approach to the original system more exact. The sufficient conditions for the existence of a dynamic output feedback fuzzy controller such that, for all admissible multiplicative controller gain variations, the closed-loop system...
Based on T-S fuzzy model, piecewise fuzzy Lyapunov function (PFLF) is adopted in the analysis of the stability of the a class of uncertainty nonlinear systems by defining the fuzzy Lyapunov function in each overlapping rules. The PFLF makes use of the premise of rules and the membership functions of the system. The sufficient condition is expressed with LMI on stability and performance of nonlinear...
In this paper, an adaptive control algorithm is developed for a class of nonlinear systems with unknown time-delays based on the approximation property of the fuzzy systems. The systems considered in the paper are in non-affine pure-feedback structure. The existing research result is expanded. This algorithm guarantees that all the signals in the closed-loop system are uniformly bounded and the tracking...
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 novel robust Hinfin intelligent control (RHIC) 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. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee Hinfin tracking performance of robotic system, in the sense that all variables of the...
This paper is devoted to the problem of robust Hinfin control for a class of uncertain singular systems with time-varying delay and norm-bounded parameter uncertainties.The states of the singular system are unmeasured. A state feedback controller based on an observer is proposed. The observer system is singular and with the same dimension as that of the given singular system. By employing free-weighting...
It is a challenge to fuse the available hysteresis models with controller design techniques to mitigate the effect of hysteresis when preceding with systems. Though the conventional Prandtl-Ishlinskii model has been primarily fused with robust control methods in the literature, the fusion of a generalized Prandtl-Ishlinskii model is a further interesting topic worthy of pursuing because it offers...
In this paper, a novel fuzzy tracking control scheme is presented for a class of pure-feedback nonlinear systems. Based on the first-type fuzzy logic systempsilas online approximation capability, an adaptive fuzzy tracking controller is developed by using the backstepping approach. It is proved that the design scheme guaranteed that all the signals in the resulting closed-loop systems are semi-globally...
The stabilization problem for a class of continuous-time Takagi-Sugeno (T-S) fuzzy systems with time-varying delays is investigated. The time delays appear in both the state and the control input. A new descriptor model, which is equivalent to the resulting closed-loop system, is introduced. Based on this, some new delay-independent and delay-dependent conditions for the existence of state-feedback...
This paper focuses on problem of quadratic dissipative control for networked nonlinear system with random delay. The T-S discrete fuzzy model system is adopted for modeling the nonlinear system. The dynamic output feedback controller is to be designed. Random delays from the sensor to the controller and from the controller to the actuator are simultaneously considered. And the random delays are described...
The problem of static output feedback fuzzy control for a class of nonlinear fuzzy impulsive time-delay systems is investigated by employing Lyapunov functions. A new scheme of robust fuzzy control via linear matrix inequality (LMI) technique is proposed. The so-called parallel distributed compensation (PDC) idea is employed to design the static output feedback controller. Sufficient conditions for...
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