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This paper develops a hierarchical sliding-mode controller (HSMC) to simultaneously accomplish velocity control and balancing control for a two-wheeled self-balancing vehicle (TWSBV). Based on the derived TWSBV model, two first-level sliding surfaces, relevant to velocity and position of TWSBV and tilt angle and tilt angular velocity of TWSBV respectively, and a second-level sliding surface, are defined...
We propose bias-compensated algorithms based on the RZA-LMS algorithm and diffusion RZA-LMS algorithm. Our proposed algorithms improve the accuracy of estimation under the situation that input of the adaptive filter contains noise. Estimation methods of the input noise' variance are given for implementing our single-node and diffusion bias-compensated algorithms. Simulation results show that the proposed...
Shell structure can help us understand the transport properties of the network clearly, and also identify the influential spreaders in complex networks. The robustness of networks suffering shell attacks is a topic of great interest since it is an important issue affecting many real-world networks. We study the robustness of two coupled network systems under shell attack, where multiple support-dependence...
This paper investigates the missile attitude control problem. The model used in this paper is with respect to the Euler attitude angles and their derivatives which can be measured and computed easily. A robust practical finite-time control algorithm is proposed based on the terminal sliding mode approach. It is proved that all of the signals in the closed-loop system are bounded and the tracking error...
This paper is concerned with power and rate control for wireless communication networks with nonlinear channel fading. A new mathematical model of power and rate control system is derived, and a robust power and rate controller is designed based on sliding mode control. A sufficient condition for the existence of stable sliding surfaces is established via linear matrix inequality, and the controller...
In this paper, a robust control method is proposed for a class of fractional-order nonlinear system with unknown system parameter based on Lyapunov direct method. The Caputo definition is used to describe the fractional-order dynamic system. The controller is simple and enables asymptotically stability to be achieved without the computation of the conditional Lyapunov exponents. Finally, simulation...
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