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This paper deals with discrete-time systems and considers the problem of computing an upper bound to the dwell time of switched systems ensuring a pre-specified root mean square gain (RMS). As a natural consequence of treating general systems of this particular class in terms of the order and the number of subsystems, only sufficient conditions are worked out. However, as positive features, they are...
This paper deals with the problem of state estimation of nonlinear uncertain systems described by uncertain multiple model form with unmeasurable decision variables. We propose two methods to attenuate the effect of modeling uncertainties and measurement noise on the state estimation. The first method is based, under some assumptions, on the second method of Lyapunov and L2 approach. The second method...
In this paper, a new active FTC strategy is proposed. First, it is developed in the context of linear systems and then it is extended to Takagi-Sugeno fuzzy systems. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains parametric and nonparametric uncertainties. The proposed neural controller (PNC) is constituted of the KNC and the TNC, and designed by use of a modeling technique...
This paper presents a direct adaptive fuzzy control scheme for a class of uncertain single-input single-output nonlinear systems subject to input amplitude and rate saturation constraints. The fuzzy controller is designed to mimic an ideal controller which is assumed guarantying the control objective. The free parameters of the fuzzy controller are adjusted by an adaptive law which prevents the presence...
This paper proposes an algorithm for controlling first and second order linear systems using brain emotional learning based intelligent controller (BELBIC). BELBIC is an intelligent controller based on the model of the emotional part of brain. The algorithm proved to be able of globally asymptotically stabilizing the linear systems based on Lyapunov theorem. A simple example of first order linear...
In this paper a first prototype towards a real-time portable device for ECG characterization in clinical applications is proposed. It consists of a hybrid hardware system supporting a novel methodology for real-time nonlinear characterization of time series. The analog sub-system performs the ECG signal conditioning in the simplest three-lead configuration providing as output a differential signal,...
In this paper we present a robust adaptive controller based on a neural network (NN) for a variable stiffness actuator (VSA). The controller is able to independently set the mechanical stiffness and position at the joint shaft to guarantee robustness with respect to slowly time-varying and unmodeled friction coefficients affecting the dynamics of the actuator. The lumped uncertainties of the VSA including...
This paper describes the development of an adaptive control law based on exact feedback linearization and Lyapunov adaptation of the process dynamics applied to a solar furnace. The controller is tested on a 6kW solar furnace model that represents a plant installed at the Odeillo Processes Materials and Solar Energy Laboratory (Oriental Pyrenees in the South of France). The adaptive features allow...
This paper investigates the path tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults and the external resistance. A hybrid fault tolerant control approach, which combines the linear quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehiclepsilas tracking performance in spite...
This paper models a class of stochastic systems with faults by the switching diffusion processes (SDP), and analyzes the fault tolerability of such stochastic systems in the sense of input-to-state stability (ISS) of overall SDP. A series of sufficient conditions are established to guarantee the ISS of the stochastic systems in spite of faults in three cases respectively: All individual modes of SDP...
DivA, acronym of divergence algorithm, a novel approach for the characterization of nonlinear time series has been developed. This new methodology is based on a numerical algorithm that calculates the divergence curve from which the maximum Lyapunov exponent and the asymptotic trajectories divergence can be extracted. The consistence of the algorithm, DivA, has been proved by making a comparison with...
This paper deals with modeling and design of reliable controller for a new type diaphragm pump. Because of parameter uncertainties and nonlinear dynamics of the pump model, a fuzzy-like PID controller is designed. The controller design is based on fuzzy Lyapunov synthesis and stability and the robustness analysis of the designed system are straightforward. The pump control system is driven by a digital...
In this note, we investigate the problem of state observation and input recovery of a particular class of nonlinear systems based on multi-models with unknown input. For this particular system and a corresponding observer structure, an original set of sufficient LMI conditions are derived from the Lyapunov theory, allowing to compute the gains of the observers and assuring asymptotic convergence....
This work extends previous stability results of autonomous reset control systems to the case in which external inputs, such as references and disturbances inputs, are present. The Hbeta-condition, that has been developed in the framework of Lyapunov stability for the autonomous system, has been used and extended to approach the problem of input-output stability. By using a passivity approach, L2-stability...
This paper presents stability conditions for Takagi-Sugeno (T-S) uncertain descriptors. These are based on a fuzzy Lyapunov approach and a non-PDC (parallel distributed compensation) control scheme. To design the fuzzy controller, the stability conditions are derived into LMIs. Moreover, in order to reduce once more the conservatism of the proposed stability conditions, a relaxation scheme, allowing...
In this paper, the design of a backstepping adaptive fuzzy controller for induction machine is addressed. The backstepping has been adopted to exploit the field oriented control scheme and to use only one control channel. Thus, the true and virtual control signals have been synthesized, using two adaptive fuzzy systems, to overcome the constraint on the well knowledge of the machine parameters. These...
In this paper, we propose a periodic observer design for a class of non-linear models in the discrete Takagi-Sugeno form with periodic parameters. The adopted framework is based on the Lyapunov theory and uses the linear matrix inequality (LMI) formalism. Only the stability of the estimation error is considered. The main goal is to reduce the conservatism of the stabilization conditions using some...
The Phase-Locked Loop(PLL) is a key component of modern electronic communication and control systems. PLL is designed to extract signals from transmission channels. It plays an important role in systems where it is required to estimate the phase of a received signal, such as carrier tracking from global positioning system (GPS) satellites. In order to robustly provide centimeter-level accuracy, it...
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