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A novel hypderchaotic system with two larger Lyapunov exponents and wider parameter range is built based on the three-order Qi chaotic system. The properties of this system are studied detailedly, such as the balance point and stability, Lyapunov exponent spectrum and the fractal dimension, and the phase portraits of hyperchaotic attractor. A practical circuit is designed to realize the system by...
The non-standard dynamics characteristics of hypersonic vehicles, the aerodynamic effects together with the wide range of speed and altitude during operation make modeling and control of these vehicles highly challenging. Modeling and analysis of hypersonic vehicles are important for control and navigation system design. A six degrees of freedom simulation model of the wing cone generic hypersonic...
Dynamical modeling, controllability condition and stabilization control design are presented for an underactuated double rotating pendulums system. Based on Lagrange equations, a dynamic model is derived by selecting the rotating angles of actuated arm and two pendulums as general coordinates of the system. Several important properties of the dynamics are also summarized. The dynamics are linearized...
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 presents a robust adaptive controller for time-varying systems with unknown dead-zone nonlinearity at the plant input. The controller is designed based on the pole assignment strategy, and it is applicable even to systems in the presence of unmodeled dynamics, bounded external disturbances and time-varying parameters. The global stability is ensured by the proposed controller.
Based on the fractional-order PID control algorithm and dynamic matrix control (DMC) algorithm, the fractional-order PID dynamic matrix control (FOPID-DMC) algorithm is given. This algorithm has the advantage of the fractional-order PID control, which is reliable in operation, and the prediction function. The influence of FOPID-DMC controller parameters tuning on system performance is investigated...
Stability analysis of the linear fractional differential systems with Caputo derivative has been well-studied, the differential system with Miller-Ross sequential derivative, however, has not been investigated yet. In this paper, by using the Laplace transform and the asymptotical expansion of the Mittag-Leffler function we derive the stability criteria of the fractional differential systems with...
Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking...
The hovering control of a helicopter simulator is studied with fuzzy logic enhanced sliding mode scheme in this paper. The mathematical model of the simulator is analysed and established on aerodynamics, the perfect control is introduced to the sliding mode control and the fuzzy rule base of the designed fuzzy system is established under the principle of Lyapunov's stability theorem. The simulation...
This paper considers a subclass of hybrid systems, which is the discrete-time linear switching systems whose changes in the dynamics are determined by exogenous, uncontrollable events, and resets are present. In the presence of uncertain parameter and non-symmetrical constrained control, based on the results of nominal linear switching systems, a necessary and sufficient condition to test the robustness...
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...
This paper presents a Lyapunov formulation of the cyclic-small-gain theorem for dynamical networks composed of interconnected discrete-time input-to-state stable (ISS) subsystems. ISS-Lyapunov functions for dynamical networks satisfying cyclic-small-gain are constructed from the ISS-Lyapunov functions of the subsystems.
For a biologically inspired mechanical system consisting of multiple segments, its natural oscillation is defined as a periodic body movement pattern conforming to the dynamics inherent to the body-environment interaction, leading to an effective locomotion of the system. In the literature, a central pattern generator based controller has been designed to approximately achieve entrainment to a natural...
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.
We study the infinite-horizon LQG control systems with the constraint that the measurement signal is quantized by a fixed-rate quantizer before going into the controller. It has been shown recently that only weak separation principle holds for the LQG control system with communication channels. In this paper, we study the problem of quantized LQG for a scalar system. An adaptive fixed-rate quantizer...
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...
To expand the initial angle condition in stabilizing the double inverted pendulum, the adaptive Human-Simulated Intelligent Controller is proposed. Based on it, the phase plane is divided into tow blocks according to requirement of control performance. Within the zero block the integration action works; Outside the zero block the adaptive fuzzy PD works. This control structure, called after adaptive...
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...
Periodic signal tracking is certainly easier than general signal tracking. This has been manifested for linear time-invariant systems by applying theories of repetitive control. However, because of the lack of corresponding theories, the difficulties in designing repetitive controllers for both periodic signal tracking and general signal tracking in nonlinear systems are similar or the same. In view...
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