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In practice, robot systems are usually required to hold uncertain load whose mass may change around a certain value. In this paper, the stability of the conventional model-based Computed-Torque Control(CTC) scheme for delta robots with uncertain load is investigated. Moreover a compensation control scheme is proposed to enhance the robustness of the conventional CTC scheme. The overall control is...
In this paper, the problems of finite-time stability for both discrete-time and continuous-time switched linear systems are studied. Largest region function strategy is adopted to design the switching logic, i.e., state-dependent switching rule, which is different from the existing approach that is based on time-dependent switching strategy. Some sufficient conditions are provided for finite-time...
For the problem of ideal steering ratio design of vehicle steer-by-wire system, the design method that based on constant yaw rate gain is researched in this paper. The vehicle model of steer-by-wire is built based on the co-simulation of CarSim and Matlab/Simulation. According to the design principle of the ideal steering ratios, the ideal steering ratios in different speed and different steering...
This paper investigates the problem of stability and L1-gain performance analysis for switched positive systems with state-dependent switching. Sufficient conditions for the existence of L1-gain performance are presented in terms of linear programming (LP). The hysteresis switching method is used to design the switching law. An example is provided to demonstrate the effectiveness of the presented...
This paper studies the spacecraft formation flying problem where the formation needs to switch among different shapes due to mission demands, the dimension of formation will change due to shape transition. The whole flying process is modeled as an impulsive state-varying system. Moreover, the state jump is also considered between switching instant. During the flying process, fault may occur unavoidable...
In this paper, the robust stability and stabilization for the switched descriptor time-delay systems under arbitrary switching is investigated. Based on the linear matrix inequality (LMI) method, some results are given: i) the switched descriptor time-delay system is regular, impulse-free and stable under arbitrary switching; ii) the controller is given to guarantee that the uncertain switched descriptor...
In this paper, state feedback load frequency control (LFC) for multi-area power systems with communication delay is considered. Based on Lyapunov-Krasovskii functional and descriptor system approach, new stability criterion for multi-area power system is obtained. The proposed state feedback controller can achieve better performance in the presence of large load changes. To illustrate the availability...
In this article, a new systematic synthesis method is proposed to design a full state feedback gain-scheduling controller for Takagi-Sugeno (T-S) fuzzy plants. Both the stability and H∞ performance of the closed-loop system are considered. More specifically, by using the information that the degree of membership function is constrained within the interval [0,1], the T-S fuzzy plant is transformed...
As the process of traditional dynamics modeling for rigid-flexible couple system is complex, this paper introduces the theory of characteristic modeling to simplify the modeling process. Unlike other reduced-order models, characteristic model compresses the high-order information into the characteristic parameters. Therefore, it will not lose model information. In addition, in order to improve the...
In this paper, the stability problem for a class of time delayed singular Markovian jump systems (SMJSs) with time-varying transition rates is studied. By using the quantized method, the time-varying transition rate matrix (TRM) is quantized into a series of finite TRMs with norm bounded uncertainties, whose difficulties in system analysis are overcome. Then, new criterion for stochastic admissibility...
This paper investigates stability and stabilization of positive switched systems under asynchronous switching, which means that the switching of the controller has a delay to that of the system mode. First, two sufficient conditions for the stability of autonomous systems are established. The first one is obtained by using the linear copositive Lyapunov function incorporated with linear programming...
Finite-time stability (FTS) of switched linear singular systems (SLS) is studied in this article. First of all, the definition of finite-time stability for switched linear singular systems is given. Then, based on the description of the state jump by a consistency projector when the subsystem is switching from one to another, we acquire a sufficient condition for FTS of switched linear singular systems...
This paper investigates the controller design problem for output-constrained uncertain nonlinear switched systems. By applying the idea of p-times differentiable unbounded functions and the backstepping technique, a novel method is proposed to design state-feedback controllers such that the system output of a class of uncertain switched nonlinear systems in lower triangular form can track a constant...
In this paper, we discuss the predictive control problem for discrete-time system with nonlinearity and multiple missing measurements. A series of mutually independent random variables satisfying certain probabilistic distribution is used to model the multiple missing-measurements. We introduce a new strategy to compensate the negative effects from the missing measurements. The aim is to investigate...
In this paper, a novel control method is proposed for single-input single-output second-order nonlinear systems. The proposed controller guarantees the system reach to the sliding mode surface from any initial states and converge to origin along the surface in finite time while solving the problem of singularity. Compared with traditional fast terminal sliding mode (FTSM) controller, the proposed...
By taking into account the Gaussian random noises on dynamics of power system, a stochastic power system model with time-varying delay is proposed in the form of stochastic differential equation, then the robust stochastic stability is discussed in detail. By constructing a novel Lyapunov functional, an improved robust stochastic stability criteria is developed, and the restrictions on the derivative...
On the basis of the establishment of articulated truck model and hydraulic steering system model, this paper establishes optimal direct yaw moment control strategy based on the main and auxiliary control variables. The main control variables are side slip angle and yaw rate of vehicle, and the auxiliary control variable is the articulated angular acceleration. The handling and stability of articulated...
This paper compares three sliding mode control laws for nano-positioning systems using piezoelectric actuators (PEAs), where the hysteresis nonlinearity can be viewed as the uncertainties of the system. Compared with the other control laws, sliding mode based controllers (SMC) are proved to be an effective method that specifically appealing to uncertainties and disturbances. To avoid the chattering...
This paper is concerned with networked predictive controller design and stability analysis of the networked predictive control system. A new networked predictive control method based on linear interpolation is proposed. Compared with the networked predictive control method in the literature, the proposed method can reduce the size of the data packet significantly. The closed-loop system is converted...
This paper studies the stabilization for networked control systems with medium access constraint via controller and protocol co-design. The closed-loop networked control system is modeled as a discrete-time switched system. Sufficient conditions are presented for the exponential stability of the closed-loop networked control system by the average dwell time method. Based on the conditions, stabilizing...
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