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This paper presents a discrete-time robust nonlinear control scheme to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The control scheme is built on the framework of composite nonlinear feedback (CNF) control, which implements a dynamically-damped closed-loop system to achieve a fast response with low overshoot. A disturbance-rejection...
This paper is concerned with designing the observer-based deadband output feedback controller for discrete-time systems subject to unknown but bounded external disturbance. Specifically, an augmentation method is utilized to estimate the system states and the disturbance, followed by designing the controller with the estimated states and disturbance. Moreover, a predefined updating instants scheduler...
Comparative studies on several direct torque control (DTC) strategies of interior permanent magnet synchronous motor (IPMSM) for electric vehicles (EVs) are discussed in details, namely basic DTC, DTC combined with space vector modulation (DTC-SVM), and deadbeat DTC (DB-DTC). These DTC strategies are reviewed, meanwhile dynamics and steady-state performance are analyzed and compared. Simulations of...
In this paper, a modified version of composite nonlinear feedback (CNF) control method is proposed to achieve fast and accurate trajectory tracking for linear systems subject to input saturation and unknown disturbances. The basic idea is to incorporate a reference generator which constructs the target state vector corresponding with the trajectory reference signal, and an extended state observer...
In this paper, the observability of probability Boolean networks is studied and several necessary and sufficient conditions are obtained. First, for probabilistic Boolean networks, the observability is defined and their algebraic form is given. Then, several necessary and sufficient conditions are obtained, based on which the observability is solved. Finally, an illustrative example is studied to...
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive control scheme to achieve the consensus objective without relying on the measurement of task-space velocities. The proposed new control scheme employs a new observer...
This paper investigates an unknown input observer design for a large class of linear systems with unknown inputs and commensurate delays. A Luenberger-like observer is proposed by involving only the past and actual values of the system output. Sufficient conditions are given to guarantee the existence of such a Luenberger-like observer.
This paper provides an identification method for uncertainties in system via dynamic neural networks, where the uncertainties include parameter uncertainty, disturbances, faults or system load. The incertainties here are translated into the weight matrices to be identified. To idenfication purpose, a dynamic neural network observer is designed, where weight matrices are adaptive tuned. The numerical...
In this paper, the problem of finite-time stabilization via output-feedback is investigated for a class of continuous but non-smooth stochastic nonlinear systems. In order to deal with the Itô correction terms, we apply a rescaling transformation for the stochastic nonlinear systems. By extending the adding-a-power-integrator technique and a new observer design, we design an output-feedback controller...
In this paper, the full-order observer and functional oberver design for a class of discrete-time nonlinear systems with one-sided Lipschitz constraint is considered. The sufficient conditions for the existence of both kinds of observers are obtained. One numerical example is shown to illustrate the given methods.
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