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This paper investigate the stabilizing controller design of a class of linear time-invariant systems with one-step random delay in discrete time. Both stabilizing dynamic feedback and state feedback control are in consideration. The dynamic stabilizing controller of the closed-loop stochastic system are determined by the solutions of two discrete algebraic Riccati equations (DAREs). And the state...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
This paper presents a fault-tolerant control (FTC) with integration of neural network (NN) and multivariable sliding mode approaches for an air-breathing hypersonic vehicle (AHV), where both partial loss of effectiveness faults and bias faults in actuators are considered. A radial bias function NN (RBFNN) is derived using on-line updating law to approximate the lumped uncertainties, which consists...
This paper proposes a new approach for robust pole assignment in second-order systems with proportional plus derivative state feedback. The desired closed-loop poles set locates in an arbitrarily specified circular region, and it can be easily taken as a part of the design parameters based on geometric principles. The object can be converted into a global dynamical optimization problem based on geometric...
For a class of linear systems with external smooth disturbances, control design is considered to attenuate the effect of the disturbances on the outputs of the systems. To deal with the unmatched disturbances, a disturbance-dependent state transformation is introduced, so that the transformed disturbances satisfy the matching condition in the new state coordinates, and therefore we design controllers...
Using the fractional Razumikhin theorem, this paper investigates the stability and the stabilization of fractional-order linear time-delay systems, and presents a number of new results. First, a sufficient condition of asymptotical stability for the fractional-order linear time-delay systems is given by the fractional Razumikhin theorem. Then, by designing state feedback controller for the fractional...
This paper investigates the dynamic output-feedback control problem for active suspension systems subject to actuator faults in finite frequency domain. Unmeasured states and uncertain parameters are considered in the controller design process. By using the generalized Kalman-Yakubovich-Popov (KYP) lemma, an H∞ controller can be obtained in specific frequency band. The H∞ controller is used to make...
Disturbance attenuation and tracking control for linear systems with time-delay are studied. A differential operator is constructed by Hamilton-Caylay theorem such that the tracking problem is converted to a stabilization problem. A control law is designed such that the output of the closed-loop system is able to track the reference signal and effectively reject the disturbance. Finally, an example...
This paper researches identification and learning from adaptive neural network(NN) control of uncertain rigid-link electrically-driven (RLED) robot manipulators. By using input-to-state stability(ISS) adaptive NN controller and the small gain theorem, the closed-loop system is divided into two connecting subsystems, which proved to be exponential stability under the persistent excitation(PE) condition...
This paper aims to study the robust nonfragile H∞ controller design problem for a class of uncertain discrete-time nonlinear singular systems. A Takagi-Sugeno (T-S) fuzzy singular model with norm-bounded uncertainties is employed to represent a nonlinear plant. Basing on observers for the fuzzy model, we can construct a fuzzy controller with uncertainties existing in the implementation process. A...
This paper develops a sampled-data H∞ control strategy for attitude stabilization and vibration suppression of flexible spacecrafts. After introducing an impulsive observer-based sampled-data controller, the closed-loop system is built as a type of hybrid systems consisting a continuous-time and an impulsive differential system. Based on Lyapunov functional method, a sufficient condition is derived...
This paper investigates the problem of robust output feedback stabilization of uncertain Hamiltonian systems with saturating actuator and input delay. The uncertainties are assumed to be time invariant and belong to convex bounded polytopic domain. By employing Lyapunov-Krasovskii functional method and Wirtinger's inequality, some sufficient conditions are derived for stabilization of nonlinear Hamiltonian...
In this paper, the problems of observer-based sliding mode control for a class of nonlinear system are investigated via Takagi-Sugeno (T-S) fuzzy approach. By using the T-S model as the design model, an adaptive sliding mode observer is first constructed to estimate the states of the original nonlinear system without knowing any information of the actuator fault. And then, a sliding mode surface in...
In this paper, we address the problem of global practical tracking by output feedback for a class of nonlinear time-delay systems. The time-delay system under consideration satisfies linear growth condition on unmeasured states with an output dependent incremental rate. By using the dynamic gain scaling technique, a memoryless output feedback tracking controller is developed. With a modified Lyapunov...
In this paper, the zero-sum differential game problem for a class of nonlinear system with input constraints is investigated via adaptive dynamic programming (ADP). A suitable non-quadratic functional is utilized to embed the control constraints into the differential game problem. Then, the Nash equilibrium solution is found by solving the constrained Hamilton-Jacobi-Isaacs (HJI) equation. The single...
This paper proposes data-driven feedback-feedforward controller design from closed-loop step response data. The proposed method directly tunes feedback controllers based on Virtual Reference Feedback Tuning (VRFT) using closed-loop step response data. Then, the feedforward controller is designed for disturbance attenuation from measurable disturbances. The feedback controller is linearly parametrized...
This article is concerned with resilient asynchronous H∞ output feedback controller designed for a set of Markov jump linear systems (MJLSs). By Finsler's Lemma, and with the help of two sets of slack variables, the problem of inter connection between the Lyapunov matrices and the system matrices was solved. Resilient asynchronous controller is designed to ensure the controller has the character of...
This paper investigates the Robust model predictive tracking control for constrained networked control systems with Markovian packet dropout. By introducing a packet dropout compensation strategy and an augmented Markov jump linear model with polytopic uncertainties, the effects of data loss on the system performance are considered simultaneously. Input, and output constraints are also incorporated...
This paper is concerned with finite-time H∞ control for a class of continuous-time T-S fuzzy system with norm-bounded disturbance. First, sufficient conditions for finite-time boundness and H∞ finite-time boundness of T-S fuzzy system are proposed. Then, the state feedback controller is designed to ensure H∞ finite-time boundness of the resulting closed-loop system, which can be addressed by solving...
This paper considers a cooperative output regulation design for a class of multi-agent nonlinear systems. For this problem under undirected communication topologies, the previous studies have shown that some internal model principle based smooth distributed control law can be constructed. In this study, we show an attempt of an event-based protocol by a cooperative practical output regulation approach.
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