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In this paper an extended state observer (ESO) based guidance law is proposed for hit-to-kill interceptors in the three-dimensional high-speed engagement. An approximate miss distance formula is given in this scenario. The nonlinear uncertainties and unknown target maneuvering are regarded as total disturbances of the kinematics, which are estimated by the ESO. With the estimation results as the compensation,...
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...
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...
In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification...
A synchronization control approach for unified chaotic system with uncertainties and time delay is presented using passive control theory. The stability of the synchronization error system is studied so that the unified chaotic system can be synchronized with uncertainties and channel time delay. Because the chaotic trajectory is limitary and the nonlinear function of the unified chaotic system satisfies...
In this paper, a method to coordinate multi-decentralized model predictive controllers(DMMPC), which is used as a strategy to control the integrated plant through decomposing the total system model into different functional sub-models, is proposed. Usually, an integrated plant is also called a large scale systems. The main aim is to relieve the expensive computation load and for improving the flexibility...
Elevators are uncertain and time varying systems. In addition, high performance is required in the next generation elevators, e.g., speed/flight time, accuracy, vibration compensation, human factor(comfort etc.) and robustness. Starting jerks, parameter variation and disturbances cause an uncomfortable run. Considering these problems mentioned above, an adaptive controller is presented in this paper...
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.
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...
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.
The delay-dependent variable structure control problem of a class of uncertain neutral delay systems is considered. By selecting a sliding surface depending on the current state and delayed state, the paper gives a delay-dependent sufficient condition in terms of linear matrix inequalities (LMIs) such that the closed-loop system is guaranteed to be asymptotically stable. According to reaching condition,...
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...
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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