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In this paper, robust adaptive tracking control is proposed for ocean surface vessels based on neural network. In the tracking control design, parametric uncertainties, unknown disturbances and input saturation are explicitly considered. Using neural network (NN) approximation and backstepping control techniques, full state feedback control and output feedback control are investigated to tackle system...
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...
An on-line identification algorithm via dynamic neural networks with different time-scales followed by controller design is proposed for the dynamic systems with nonlinearity and uncertainty in this paper. The main contribution of the paper is that the Lyapunov function analysis, singularly perturbed technique and sliding mode methodology are combined to develop the control laws for trajectory tracking...
A new variable step size LMS adaptive filtering algorithm is proposed based on variable region. The step size mu(k) in the algorithm varies with variation of the deviation e(k) region to ensure the optimization of the three performance objectives, which are initial convergent speed, tracking ability of the time-varying system and stable state convergence precision. The convergence of the algorithm...
This paper is concerned with the filtering problem for discrete-time stochastic linear system with bounded multiple packet dropouts. An optimal prior filter is developed in linear unbiased minimum variance sense. Its solution depends on the recursion of a Riccati equation and a Lyapunov equation, which involves the complex computation of multiple sums by some correlated terms. To reduce the computational...
Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance...
This paper studies the passivity problem for a class of uncertain stochastic recurrent neural networks (SRNNs) with interval time-varying delay. Based on Lyapunov-Krasovskii functional and stochastic analysis approach, a delay-dependent robust passivity criteria is obtained in the linear matrix inequality (LMI) format. The effectiveness of the proposed method is demonstrated by a numerical example.
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...
The adaptive synchronization of unified chaotic system is studied when the parameter of drive system is unknown and the parameter of response system is adjustable. Based on Lyapunov stability theory and combining driving method, two new adaptive control methods for the synchronization of unified chaotic system are presented by employing multiple controllers and only a single controller. The analytical...
For a class of uncertain single-input single-output (SISO) nonlinear systems with unknown bound functions and unknown function control gain, a novel approach of direct adaptive fuzzy controller (AFC) without supervisory controller is proposed by Lyapunov synthesis. Based on the direct AFC with projection operator, it is developed a fuzzy approximation error estimator as adaptive compensator, which...
A new stable artificial immune self-tuning PID control scheme is proposed. The model is adapted by artificial immune clustering algorithm to learn plant dynamic change, while the PID control parameters are adapted by the Lyapunov method to minimize a cost function. Therefore, the model output is guaranteed to converge to the desired trajectory asymptotically, and the plant output also tracks the desired...
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...
The main purpose of this paper is to study the globally exponential stability of the equilibrium point for a class of impulsive neural networks with time-varying delays. Without assuming global Lipschitz conditions on the activation functions, applying idea of vector Lyapunov function, combining Halanay differential inequality with delay, the sufficient conditions for globally exponential stability...
The main purpose of this paper is to study the globally exponential stability of the equilibrium point for a class of cellular neural networks with distributed delays and large impulses. With assuming global Lipschitz conditions on the activation functions, applying idea of vector Lyapunov function, combining Halanay differential inequality with delay, the sufficient conditions for globally exponential...
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...
To solve the seam tracking problem of the welding mobile robot, a new controller based on the dynamics model of the mobile welding robot is designed. Self-turning fuzzy controller is designed to complete coordinately controlling of cross-slider and wheels, and exactly welding seam tracking was realized by use of the controller. To make the tracking more quickly and smoothly, it utilized self-learning...
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