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A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. The coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel...
In this paper, a two-level reconfiguration action is used to design an Active Fault Tolerant Control (AFTC) system. The first level of the procedure is triggered when the impact of the fault on the system performance is limited. The reconfigurable controller is updated by the new post-fault system model. At the second level a dynamic reference modification based on Reference Governor (RG) is proposed...
The purpose of this paper is to provide new methods for neutral system stability and diagnosis analysis. Based on Kharitonov stability, a new theorem is proposed for delay neutral system with robust control. For stabilized neutral system, an unknown input observer with new structure is then investigated to diagnosis this type of system. Tow important conditions are presented to can apply this type...
This paper is devoted to the stability analysis of uncertain nonlinear dynamic systems. The generalized polynomial chaos formalism is proposed to deal with this challenging problem treated in most cases by using the prohibitive Monte Carlo based techniques. Two equivalent methods combining the non-intrusive generalized polynomial chaos with the indirect Lyapunov method are presented. Both methods...
In this paper, stability and stabilization issues of positive and periodic discrete systems with bounds on the control and on the state variable is addressed and a solution is provided. The proposed conditions are formulated as equality and inequality constraints enabling all the considered problems to be expressed, with the addition of appropriate cost function, in a linear programming framework...
This brief paper deals with the synthesis of H∞ reduced order stable controllers for linear systems. It is well known that, the problem of obtaining an H∞ reduced order controller can be formulated as a bilinear matrix inequality optimization problem which is non convex and NP hard to solve. In this paper sufficient conditions are provided which allow to convert the H∞ reduced order stable controllers...
In this paper finite-time stabilization of nonlinear affine systems, is considered. First we provide a formula for a finite-time stabilizing state feedback control law, for the last class of system. Then we extend the result to the case of a norm-bounded uncertain system and a polytopic uncertain system stabilization are given. Some numerical examples are given to illustrate the main result.
This paper describes an Adaptive Backstepping Neural Network (ABNN) method used for a ship course tracking control. The ship model is described by a third order nonlinear model whose parameters are unknown. The control design uses estimate values of unknown parameters of the system. Then, adaptive laws of the estimation of these values have been proposed. The stability of the controlled system has...
In this paper, we apply an adaptive control algorithm to a nonlinear multivariable process. Such controller is based on the multiple models approach. As the design of the control law requires the knowledge of the dynamical model of the system, we deal firstly with the identification of the system parameters using the recursive least squares and the retro propagation of the gradient algorithms. Then,...
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