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In general, the position control of electro-hydraulic actuator(EHA) systems is difficult because of the large variation of the effective bulk modulus of the working fluid, which is due to the absence of a heat exchanger like a reservoir tank, a friction between the cylinder and piston, and an external disturbance force. Moreover, it is difficult to identify the values of the effective bulk modulus...
This article discusses the Lyapunov-Krasovskii functional method for the stability problem of coupled differential-functional equations with distributed delays and one discrete delay. However, systems with distributed delays and multiple commensurate discrete delays can be easily transformed to the standard form treated in this article. This standard form represents a very general class of time-delay...
In this article, we are concerned with the stabilization of a one-dimensional Schrödinger equation with boundary control and observation. The boundary observation is suffered from an arbitrary given time delay. We first show that the proportional output feedback control that stabilizes exponentially the time delay free system makes the corresponding time delay system unstable.We then use the observer...
In this paper, a formation problem of a satellite with a leader in an eccentric orbit is considered, where the transition to a periodic relative orbit is required, and the control input is restricted to a subinterval of the period of the leader's orbit. As preliminaries, the same problem in the special case of the circular orbit is considered, and feedback controls based on a differential Riccati...
We describe the modelling and control of a new-kind airship which is propelled by buoyancy. Based on the Newton-Euler equations and Kirchhoff equations, and referred to the models of underwater gliders and aircraft, a 6DOF nonlinear mathematical model of a buoyancy-driven airship is derived, with features distributed internal mass, and no thrust, elevators and rudders. The attitudes are controlled...
UAV are becoming increasing interesting for many applications, also in the civil field. While UAV are usually expected to be in constant contact with basis stations, a critic aspect of their usability is related to the autonomy in case of an interruption of communications. This autonomy includes the ability of both a sense-and-avoid algorithm as well as local pilot capabilities. In this paper we present...
In this paper a novel control strategy, the active disturbance rejection control (ADRC) is applied to the trajectory tracking design of ball and plate system. In the ADRC framework, the disturbance and coupling are treated as an additional state variable, which is then estimated and compensated for in real time. In addition, the using of a new nonlinear state error feedback control law in the ADRC...
In this note, the limitations of conventional or separate gain or phase margin are shown. Then, the combined gain and phase margins are introduced to overcome the limitations and suit both stable and unstable systems. A simple method for their computations is presented and its application in stabilization is demonstrated.
This paper presents robust passivity-based control (RPBC) laws for a class of weakly minimum phase nonlinear uncertain systems which can be either of nonlinear affine or relative-degree-1. The proposed RPBC laws contain two objectives: one is to passificate the controlled systems; the other is to asymptotically stabilize them. The sufficient conditions are also established for the proposed RPBC. The...
In this paper, we develop a method to realize an autonomous periodic motion of a small blimp system in a horizontal plane. The idea behind the method is to make the dynamics of a small blimp system approach asymptotically to that of the van der Pol equation that has a limit cycle. The method consists of the following two steps: First, we introduce two constraints. One has a role to connect the motion...
This paper investigates the nano-positioning control for a piezoelectric actuator system with states time-delay via multiple Lyapunov functions. The multiple Lyapunov functions can relax stabilization conditions derived by the traditional single Lyapunov function. First, the Bouc-Wen equation establishes the mathematical model of a piezoelectric actuator system. To reduce the nonlinear hysteresis...
In this paper, we proposed a new method of a fuzzy adaptive controller design for a class of non-affine nonlinear systems in which functions of the systems are unknown. The Lyapunov stability of the closed loop system, robustness against uncertainty and external disturbance, the convergence of the output error to zero and the boundedness of the internal signal are guaranteed. An illustrative example...
In this paper, an improved adaptive fault estimation algorithm is proposed for a class of polytopic linear parameter varying (LPV) systems. The conventional adaptive fault estimation design method suffers from low performance of the fault estimation and a strict equation constrain, so a novel fast adaptive fault estimation (FAFE) design method proposed in this paper not only enhances the performance...
In this paper, stabilization problem of parametric strict feedback class of discrete time chaotic systems is addressed. The methodology followed here utilizes recursive procedure based on contraction framework and explicit structure of controller is derived for a class of nonlinear discrete time systems. Recursive design of controller using Lyapunov based analysis are well established but contraction...
We introduce a procedure written in the mathematics software suite Maple, which transforms linear time-invariant systems to a special coordinate basis that reveals the internal structure of the system. The procedure creates exact decompositions, based on matrices that contain elements represented by symbolic variables or exact fractions. The procedure is meant as a complement to numerical software...
This paper presents an application of the continuous-time deadbeat control, which is proposed recently based on the finite pole assignment for linear systems with time delay. The control object used here is a carriage, which is build with LEGO MINDSTORMS NXT as a model of crane for LCD manufacturing line. The implementation includes modeling, design, and implementation for a cheap microprocessor for...
In this paper, adaptive neural network (NN) control is investigated for a class of block triangular multi-inputmulti-output (MIMO) nonlinear discrete-time systems with each subsystem in pure-feedback form with unknown control directions. Each subsystem is transformed into a predictor form such that the noncausal problem can be avoided in the control design. By exploring the properties of block triangular...
This paper discusses the synthesis problem for a class of discrete time complex-valued Hopfield neural network. To be an associative memory, each memory pattern of the network should be stable and attractive. For this reason, this paper firstly analysis the stability of network, where a generalized Hamming distance defined in complex-valued domain is used to be Lyapunov function. Thus a stable criterion...
The model of a two-dimensional shallow water equation (so-called Saint venant 2D equation) presents the motion of water on a large lake or on the sea region. Solving this equation is to calculate the water level, the water velocities in two - directions coordinator (Oxy). This work needs mass of computations in a short time in order to forecast and control serious incidents (e.g. the dam break flow,...
This article discusses the problem of determining the parameter sets of stabilizing PID controllers for first-order plus double integrating processes with time-delay. The method adopted in the article is based on a version of Hermite-Biehler theorem valid for quasi-polynomial and a graphical stability criterion for time-delay systems. The admissible range of proportional-gain is first derived. Then,...
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