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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.
Fault detection problem of networked control systems with network-induced delay, data packets dropout and disturbance in sensor-to-controller link is discussed. First, we design an observer-based residual generator, and model the residual dynamics to be a discrete-time markovian jump linear system in this paper. By using H∞ optimization theory and linear matrix in-equation approach, the solution of...
The problem of robust H∞ model reduction for uncertain stochastic systems with time-delay is considered in this paper. For a given stable system, we focus on the construction of reduced-order models which guarantee the corresponding error system to be asymptotically stable and have a prescribed H∞ performance. Sufficient conditions are obtained for the existence of solutions to time-delay dependent...
The paper discusses relationships between the H∞ preview control and the standard H∞ control, between the H∞ fixed-lag smoothing and the H∞ filtering. It is easy to understand intuitively that the H∞ preview control problem is inevitably solvable if the standard H∞ control problem for the identical system is solvable and that the H∞ fixed-lag smoothing problem is solvable as the H∞ filtering problem...
In this paper, the control problem with both multiple measurement and control packets dropouts for descriptor systems is investigated. Firstly, the descriptor systems are transferred to the normal systems. Then two independent Bernoulli distributed white sequence are used to describe the multiple measurement and control packet dropouts. An H∞ output controller is designed to make the systems stable...
In this paper, a voltage controller is proposed and implemented for grid-connected inverters based on H∞ and repetitive control techniques. A frequency adaptive mechanism is introduced to improve system performance and to cope with grid frequency variations. The repetitive control, based on the internal model principle, offers excellent performance for voltage tracking, as it can deal with a very...
In this paper the problems of H∞ performance analysis and control of networked control systems with time varying sampling intervals and delays are studied. A new impulsive system based method is introduced to deal with this problem. Moreover, a new Lyapunov-Krasovskii functional is proposed to establish sufficient conditions for exponential stability and H∞ control of networked control systems. The...
This paper investigates robust static output feedback (SOF) control problem for the linear systems with parameter uncertainties. Based on the structure of the uncertainties, the systems are separated into linear time invariant (LTI) systems and linear parameter varying (LPV) systems. Then, a class of uncertain systems with norm-bounded perturbations is discussed for both LTI systems and LPV systems...
A new stabilization condition for T-S fuzzy systems via the fuzzy Lyapunov function and the non-PDC controller is proposed in this paper. Unlike the existing literature, the bounds of the time derivatives of membership functions are not required and the BMIs problems do net arise, either. All stability conditions are expressed in the form of linear matrix inequalities (LMIs). We also extend the proposed...
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...
The distributed fusion robust H2 and H∞ filtering problems for discrete-time systems with polytopic uncertainty are investigated. Based on the existing results on the robust H2 and H∞ filtering problems for single-sensor systems, the sufficient conditions for existing of distributed fusion robust H2 and H∞ filters are obtained. An illustrative example shows that the fusion filter is better than each...
This paper is concerned with non-fragile H∞ filtering for linear systems in network environments. The filtering error system is modeled as a linear system with an interval time-varying delay. Then a delay-decomposition approach is employed to derive a sufficient condition such that the filtering error system is asymptotically stable with a prescribed H∞ disturbance attenuation level, where the non-fragility...
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...
In this technical note, an H2 approach to network-based control system with multiple packet dropouts is introduced. The communication links over network media are assumed to be data-packet dropouts. Two channel packet dropouts are simultaneously considered due to limited communication capacity and unreliable communication links. One is measurement channel packet dropouts which are from the sensor...
The problem of robust H∞ filtering for polytopic Delta operator systems is investigated. An enhanced linear matrix inequality (LMI) representation for H∞ performance criterion is presented based on the bounded real lemma by introducing two slack matrices. Upon this criterion, a structured polynomially parameter-dependent approach is proposed to solve robust H∞ filtering problem, which is realized...
A hierarchical anti-disturbance strategy is designed for a class of robotic nonlinear systems. A new generalized disturbance observer is constructed and integrated with a conventional PID controller so that the desired dynamic performance can be guaranteed. The disturbances include two parts. One part is the norm bounded uncertain disturbance. The other part is supposed to be generated by an exogenous...
The robust H∞ output feedback control problem for uncertain discrete-time switched systems is investigated. A new linear matrix inequality(LMI) formulation of robustly stable and H∞ performance for the switched systems under arbitrary switching is obtained by using switched Lyapunov function method. The new LMI parameterized by a scalar variable which allows extra degree of freedom for design problems...
The paper addresses the finite-horizon robust H∞ filtering for discrete-time systems with convex polytopic uncertainty. A sufficient condition for the existence of finite-horizon robust H∞ filtering is presented by parameter-dependent Lyapunov function method with LMI approach. Two slack variable matrixs with special structure are introduced to design the finite-horizon robust H∞ filter. The resulting...
An observer-based robust H∞ control for a class of linear uncertain neutral-type systems is presented in this paper. Based on Lyapunov-Krasovskii theory, a delay-dependent condition for the existence of a linear full-order robust H∞ controller is constructed. By the singular value decomposition (SVD) approach, the result can be expressed in terms of a set of strict linear matrix inequalities (LMIs)...
The problem of robust H∞ stability analysis for a class of uncertain singular time-delay systems with Markovian jumping parameters is addressed in this paper. The considered Markovian jump singular systems involve constant time delay and norm-bounded uncertainties. Based on linear matrix inequality (LMI) approach, a delay dependent condition is proposed, which ensures the Markovian jump singular system...
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