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A novel adaptive controller based on sliding mode control with Fourier series approximation approach is presented. To eliminate the impact of time variant characteristics of dead zone, a control law is proposed with an undetermined uncertainty item and an undetermined compensation item through sliding control method, which are then approximated with Fourier series. Lyapunov method is used to guarantee...
The adaptive fuzzy control problem is considered for a class of uncertain SISO nonlinear time-varying delay systems in a Brunovsky form. The upper bound of the unknown time-varying delay term is assumed to be in the form of nonlinear functions with unknown coefficients. An adaptive fuzzy controller is designed by utilizing the integral-type Lyapunov function and constructing a continuous function...
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.
The problem of feedback stabilization for a class of switched nonlinear systems is considered using polynomial Lyapunov function, and two methods are presented based on sum of square decomposition. The first is direct method and feedback controllers can be obtained by solving feasibility problem of sum of square program. The second method is iterative method and feedback controllers can be obtained...
For a monocular camera-based mobile robot system, an adaptive visual regulation controller is proposed in this paper to asymptotically stabilize the robot to its desired position/orientation, in which range sensor is not required and unknown camera extrinsic parameters are considered as well. First, based on the relationship between the robot frame and the camera frame, kinematic model of the monocular...
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...
According to the nonlinear closed electro-hydraulic proportional system, a multiple sliding mode adaptive control method is proposed. Recursive technique is used to simplify the control problem of higher-order system. A robust adaptation scheme was used to reduce the tracking error resulted from system uncertainties . Firstly, the recursive technique and state feedback precise linearization scheme...
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...
Direct adaptive sliding mode tracking control law design method and its application to an inverted pendulum system have been presented in this paper. Firstly, problem formulation and the introduction of dynamic fuzzy logical system (DFLS) were given. Then the sliding mode control (SMC) law was constructed via DFLS which parameters were self-tuned on-line. The adaptive laws were determined so that...
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 Letter discusses synchronization problem of two new and totally different hyper-chaoses when ten parameters of the drive and response system are fully unknown and different. Based on Lyapunov stability theory, an adaptive control law with parameters update laws is derived such that the states of two different hyper-chaotic systems can asymptotically be synchronized.
Adaptive robust dynamic balance and motion control are considered for mobile wheeled inverted pendulum, in the presence of parametric and functional uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms using physical properties of wheeled inverted pendulums ensure that the outputs of the system track the given bounded reference signals within a small neighborhood of zero, and...
This paper presents a novel adaptive controller for image-based visual servoing of robots with an eye-in-hand camera using angle and distance features. The key idea lies in the development of the depth-independent interaction matrix and the proposal of an adaptive algorithm for estimating the unknown geometric parameters of the features in the 3-D space. The Lyapunov theory is used to prove the asymptotic...
Control of pneumatic servo systems is well-known to be challenge due to highly nonlinearities in the actuator dynamics and compressibility of the media. Most state feedback based strategies for the pneumatic servo systems require full state feedback to stabilize the closed loop system which implies the need for pressure measurements of the cylinder. Many researchers used state observers to complete...
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 novel robust adaptive neural control approach is presented for a general class of strict-feedback nonlinear systems with both nonlinear uncertainties and virtual control gain nonlinearities that may not be linearly parameterized. A unified and systematic procedure is employed to derive a robust adaptive tracking controller by using of the backstepping technique and radial basis function neural networks...
The paper presents a design technique using adaptive backstepping method for the aircraft longitudinal flight path control laws. This control method constructs the Lyapunov function using backstepping loops, and designs on-line GCMAC neural networks used to study and compensate the unknown aerodynamic uncertainties in the plant model. Then, the neural network weights turn laws are designed based on...
Aiming at the uncertain nonlinear system with a dead zone input, a design method of adaptive neuro sliding mode control is presented to combine neural network theory with sliding mode control theory. RBF neural networks are used to realize modeling of nondeterministic system. Adaptive laws are derived based on Lyapunov stability theory which guarantees the stability of control system. Theoretical...
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