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The ability of Vertical and/or Short Take-Off and Landing is the objective of advanced fighter and shipboard fighter. In this paper we proposed a prototype of tailless configured STOVL aerial vehicle. Based on which, the mathematical model was studied by mechanical analysis and CFD (Computing Fluid Dynamics) computation. Besides, an intelligent adaptive based control law was proposed and the optimization...
In this paper, a velocity controller based on H∞ loop shaping for an unmanned helicopter is presented. H∞ loop shaping controller guaranteed the stability margin of the closed-loop system above desired level. The performance of the controller is improved using gain-scheduling of key parameters. The simulation results show that the controller is robust and has good performance.
This paper is concerned with stabilization of linear systems with arbitrarily large and bounded (time-varying) delay in the actuator. A new class of feedback laws based on pole-assignment low gain design is proposed to solve the problem. Both delay-dependent and delay-independent results are presented and a series of sufficient conditions for guaranteeing the stability of the closed-loop system is...
This paper is concerned with robust stochastic stabilization problem for a class of uncertain stochastic fuzzy systems. The purpose is to design a state-feedback fuzzy controller such that the resulting closed-loop system is robustly stochastically asymptotically stable. Sufficient conditions for the solvability of this problem are obtained by using matrix operations and stochastic Lyapunov approach...
Adaptive nonlinear output feedback control of GD-FNN(generalized dynamic fuzzy neural network) for underwater robot motion control using forming filter for wave disturbance is presented. This method completely construct nonlinear and uncertain parts of underwater robot by online adaptive learning algorithm without knowing fuzzy neural structure and training phase in advance. Output feedback control...
Due to the existence of time delay, model parameters identification in industrial processes has brought certain difficulties. This paper presents a three-step closed-loop identification method based on step response and open loop transformation. Firstly, the entire closed-loop model was identified from the closed-loop input and output data. Then the open loop output data can be obtained through a...
For a class of three-loop architecture motion control system, two-stage closed loop identification is introduced to solve the problem of biased estimation. Using this method the bridge transfer function is identified firstly so that the control vector can be reconstructed uncorrelated with noise. Then, the plant can be estimated.
The state observer and H∞ control via output feedback for time-delay neutral systems are studied in this paper. A sufficient condition is given for the existence of the H∞ state observer of the system first. And then a new criterion of the stability for the closed loop system via output feedback is presented by two linear matrix inequalities. Finally a numerical example is given to demonstrate the...
Distributed robust adaptive control is investigated for a class of stochastic multi-agent systems with unknown time-varying structure parameters, unmodeled dynamics, external disturbances, and interactions among agents. The control goal is to make the states of all the agents converge to a desired function of the population state average (PSA). Due to the fact that only local information is available...
The control scheme of parallel drive system of the dual Switched Reluctance machines based on fuzzy logic control is proposed and verified for the first time. The system consists of main machine, subordinate machine, main power converter, subordinate power converters, main controller and subordinate controller. The main controller is used for closed-loop rotor speed control of main machine, with the...
An adaptive dynamic surface control scheme is designed to achieve output tracking for a class of nonlinear output feedback system with uncertain actuator failure pattern, value and time instants. State observer is used to estimate unavailable plant states. Detailed stability analysis is carried out to prove the uniform ultimate boundedness of all closed-loop system signals.
Active Disturbance Rejection Control (ADRC) is designed for the flight attitude control. It outperforms PD control in the classical time- and frequency-domain simultaneously. With regard to the structured uncertainties in the aerodynamics, two main uncertain factors, resume moment coefficient and control moment coefficient, are separated from the certain part of the closed-loop system by μ analysis...
This paper presents a novel design of adaptive sliding mode observer. An adaptive sliding mode observer with a proportional and integral sliding surface is derived and the stability condition of the closed-loop system is established. The proposed adaptive sliding mode observer could reconstruct the unmeasured states and estimate unknown system parameters in real time despite parameter variations and...
This paper studies the stability of linear time-invariant (LTI) single-input single-output (SISO) discrete-time networked feedback systems. Only quantization effect is considered and the quantizer is logarithmic. Second order stochastic input-output stability is studied. A stabilizing output feedback controller which is realized by Youla parameterization is adopted. We get a necessary condition to...
This paper investigates the estimate of domain of attraction for a class of nonlinear Port-Controlled Hamiltonian (PCH) systems subject to both actuator saturation and disturbances. Firstly, two conditions are established to determine whether an ellipsoid is contractively invariant for the systems only with actuator saturation, with which the biggest ellipsoid contained in the domain of attraction...
This paper presents a new adaptive controller for visual servoing of robot manipulators based on the concept of depth-independent interaction matrix. By mapping the image error onto the joint space using the depth-independent interaction matrix, it is possible to make the unknown 3-D coordinates of the feature points linearly appear in the closed-loop dynamics of the system, so the unknown coordinates...
In this paper, it is showed that if neural networks are used as feedforward compensators instead of feedback ones, then we can ensure the global stability of closed-loop systems and determine the neural network approximation domain via the bound of known reference signals. It should be pointed out that this domain is very important for designing the neural network structure, for example, it directly...
This paper presents the design of a robust iterative learning controller for a class of nonlinear systems with non-parametric uncertainties. The unknown nonlinearities are only required to satisfy the local Lipschitz condition. The learning controller is developed, by using both robust control and iterative learning control methods, which enables to compensate for the shortcoming when either one is...
This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms, and other disturbances. Based on the ideas of H∞ control and homogeneous feedback, the controller proposed can stabilize the closed loop systems when there is no exotic disturbance. In addition, it can realize the desired disturbance attenuation according...
This paper is concerned with the quantized stabilization of linear discrete systems with packet dropout. Based on the zoom strategy and Lyapunov theory, for a given packet dropout rate, a sufficient condition is given for closed-loop system to be mean square stable. A numerical simulation is presented to show the effectiveness of the main result.
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