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In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
This paper provides an adaptive PID controller based on back propagation (BP) neural network applied to pressure control of hydraulic system. The controller has many advantages like that more convenient in parameter regulating, better robust, more independence and adaptability in the hydraulic system. According the requirements of system performance, this paper discussed the corresponding learning...
Vibration suction method (VSM) is a novel suction strategy for wall climbing robot. Regular vibration can improve the suction cup's adsorption capacity. Through the study of the first vibration suction robotic foot (VSRF I) the applicability of VSM was verified while the suction capability, safety, and wall adaptability of it was not well enough. Based on these, a new vibration suction robotic foot...
Large variations of the control variable add to plant wear and tear. In view of this fact, this paper provides a plant-friendly PID controller design method by minimizing the weighted sum of the integral of squared time-weighted error and the integral of squared time-weighted derivative of the control variable with respect to a step set-point change. The robustness of the system is guaranteed by a...
For ship steering systems with the nonlinear uncertain parameters, a concise nonlinear adaptive robust control (CNARC) derived from the backstepping design method is constructed with the close-loop gain shaping algorithm (CGSA) via aid of the adaptive strategy in this paper. To overcome the high conservative of the nonlinear robust control scheme, which makes no use of the feedback information of...
Based on the model-following adaptive neural network control theory, a gust load alleviation controller for civil airplanes by direct force control is proposed. For Dryden power spectral density function, the rational spectral theory is used to set up the linear state-space model of the vertical gust. The effects of gust to aircraft are considered to develop the synthesized system model of aircraft...
Due to the randomicity and instability of the wind energy, the wind power generation system has some robust control problems, such as the parameter uncertainties, disturbance rejection, imprecise model, and so on. Based on the analysis of the wind turbine operation characteristics, the generator speed has to be rapidly adjusted with the wind speed changing to capture the maximum power. For the variable...
Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions...
The problem of delay-dependent robust stability analysis and stabilization for uncertain singular systems with time delay are concerned in this paper. The parameter uncertainty is assumed to be norm-bounded and possibly time-varying, while the time delay considered here is assumed to be constant but unknown. By decomposing the singular time-delay system into slow and fast subsystems and using a new...
By searching the condition that guarantees the given performance index based on S-procedure technique, an Hinfin static output feedback control method is proposed for constrained system. Moreover, the dissipative constrained conditions and the elliptical set that contains output trajectory are cast as LMIs, and introduced into the optimization problem, then a moving horizon Hinfin control using static...
This paper is concerned with the finite-time control problem of continuous-time linear system that posses randomly jumping parameters which can be described by finite-state Markov processes. The main results provided are sufficient conditions for mean square finite-time stability (MSFTS) and mean square finite-time boundedness (MSFTB) via state feedback. Such sufficient conditions can be turned into...
The problem of robust control for time-delay system with nonlinear uncertainty is considered, a state observer is exploited to reconstruct the state of system, then controller is designed by using a new theory of exponential stability and a new analysis method. The result is dependent on the upper of time delay. A example is finally presented to illustrate the efficient of the result.
Motion control of high rise elevator is a typical multi-objective control and nonlinear control problem. To effectively solve the multi-objective control and nonlinear control problem, an linear matrix inequality (LMI)-based and Takagi-Sugeno(T-S) model-based fuzzy approach is employed. First, the generalized T-S type fuzzy model for the system is constructed, and then system global state controller...
Based on the analysis of the wind turbine operation characteristics, the essence of the maximum wind energy tracking problem is transformed into the speed control problem of the generator. For the variable speed constant frequency brushless doubly-fed wind power generation system suffering from the wind energy uncertainties and instability, the model is established, and the disturbance signals are...
This paper is concerned with the robust control problem of the permanent magnet synchronous motor (PMSM) chaotic systems with uncertain parameters. Firstly, the T-S fuzzy models with several fuzzy IF-THEN rules are employed to represent the uncertain chaotic PMSM plant. Based on these the T-S fuzzy models, a simple fuzzy controller is designed via PDC technique to realize the stabilization of chaos...
A direct adaptive fuzzy sliding mode control strategy for a 3-RRRT parallel manipulator is presented and actualized. According to its system dynamics character, and on the base of Lyapunov's stability theory, using fuzzy logic system with adaptive technology, a direct adaptive Fuzzy sliding mode control strategy is put forward and actualized, and then control system numerical simulation is completed...
Bipedal locomotion is one of the most challenging problems in control, artificial intelligence, mechanics and other related fields. In this article a model free approach with emphasis on making robot's walking more stable and faster is presented. In this regard we use particle swarm optimization (PSO) to optimize the signals produced by truncated Fourier series (TFS) which control joints' angels....
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