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The wings of loitering unit could be unfolded in flight. In view of the model parameters uncertainty caused by the structural change, based on the vehicle's longitudinal and lateral motion equations, combined with the characteristics of ADRC, active disturbance rejection attitude controller is designed. Six degrees of freedom nonlinear simulation model is operated with Simulink and aerodynamic parameters...
This research makes the Lorentz chaotic system to be synchronized with the Lü chaotic system. For synchronizing between the two continuous chaotic systems, an adaptive sliding-mode control (ASMC) based on time-delay control (TDC) is applied. TDC estimates uncertainties using time-delayed values, and inserts a reference model into the system. In addition, to deal with irregular behaviors of the chaotic...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
In this paper, we prove that the DOB-based feedback controller can guarantee arbitrarily large but bounded gain margin and phase margin. This fact reminds that the DOB-based controller plays the role of robust controller even in the classical sense. We present a design procedure that ensures desired gain/phase margin even for the plants that have parametric uncertainty.
This paper presents a new decoupled disturbance compensation scheme with discrete-time variable structure control, to provide asymptotic convergence property even when the control input is driven beyond saturation limits. Discrete-time variable structure control (DVSC) method with a decoupled disturbance compensator (DDC) has been widely used in many applications, attributed to the robust properties...
This paper presents a robust and adaptive nonlinear controller to asymptotically regulate thermoacoustic oscillations in a Rijke-type system in the presence of dynamic model uncertainty and unknown disturbances. A mathematical model that includes unmodelled nonlinearities and parametric uncertainty is first introduced. A robust and adaptive non-linear control law is then developed to compensate for...
This paper is concerned with the robust discrete-time control for uncertain time-delay systems with nonlinearities and external noises. The parameter uncertainties enter into all the system matrices. The time-varying delay is unknown with given lower and upper bounds. The stochastic nonlinearities are described by satisfying a class of α Hölder condition. The problem addressed is the analysis and...
This study aims to develop an effective control approach for force control of a typical EHA system. This control scheme is considered as an advanced combination of a feedforward neural network — based PID (FNNPID) controller and a fuzzy grey predictor (FGP), shortened as feedforward neural network fuzzy grey predictor (FNNFGP). Here, the FNNPID controller is used to drive the system to desired targets...
A gesture is not performed in only one action but a combination of continuous actions. It is very important to know the start and end of a gesture for accurate gesture recognition. In this paper, to extract a meaningful gesture portion in an online situation, we introduce a method that can distinguish the start and end of a gesture. Then, we describe the method of recognizing an extracted gesture.
In this paper, an active disturbance rejection control (ADRC) with tracking differentiator (TD) solution is proposed and tested on a certain four operating condition model. The proposed system with a cascaded control scheme is constructed based on a linear Active disturbance rejection controller (LADRC) with parameters optimized under a modified fruit fly algorithm. The tracking performance could...
This paper deals with an adaptive robust tracking control using a multilayer neural network (NN) for a class of nonlinear dynamic systems with unknown time varying state delays. Typical adaptive NN backstepping controllers for uncertain nonlinear systems with time-delay give rise to computation complexity caused by the the repeated derivatives of virtual controllers and nonlinear functions. Moreover,...
This paper proposes the combining of μ-synthesis robust repetitive control and feedforward control scheme to the design of constant sinusoidal voltage tracking for a stand-alone three-phase constant voltage inverter. The controller designed problem is defined in the form of two-degree-of-freedom feedback-feedforward controller. The D-K iterative algorithm is used to solve for both parts of the controller...
A new nonlinear optimal control approach is proposed for autonomous navigation of unmanned surface vessels. The dynamic model of the surface vessels undergoes approximate linearization round local operating points which are redefined at each iteration of the control algorithm. These temporary equilibria consist of the last value of the vessel's state vector and of the last value of the control signal...
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can...
This paper presents a robust controller for robot manipulators. The controller is based on the disturbance observer which can efficiently compensate the external disturbances and plant uncertainties, and recover the nominal system performance. Under the assumption that angular displacements as well as angular velocities are available for feedback, we propose a disturbance observer-based robust controller...
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