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This paper focuses on the anti-windup-based dynamic controller synthesis problem for a certain class of nonlinear systems subject to actuator saturation. Based on the Linear-Fractional Representation (LFR) techniques, the original system is transformed into a linear system incorporating a sector-bounded nonlinearity and a saturation nonlinearity with an additional linear-fractional constraint. By...
We proposed a systematic method to design a multivariable fuzzy logic controller for large-scale nonlinear systems. The paper created the stabilized platform model with kinematics and dynamics theory. In designing a fuzzy logic controller, the major task is to determine fuzzy rule bases, membership functions of input/output variables, and input/output scaling factors. In the paper, we designed by...
The problem of disturbance and plant uncertainties attenuation for nonlinear system is one of the most important topics in nonlinear control theory. In this paper, we try to solve the problem for a class of nonlinear systems. For this reason, an Generalized Proportional Integral (GPI) technique based observer is firstly proposed, which not only asymptotically estimate the information of all the states,...
This paper presents a robust adaptive output-feedback dynamic surface control for a class of nonlinear systems with output unmodeled dynamics. A new relation ship between the output and the state of the output unmodeled dynamics is established while the unmodeled dynamics is input-to-state practically stable. With such relationship, it is shown that all the signals of the closed-loop system are bounded...
In this paper, an adaptive on-line identification algorithm is proposed for nonlinear structure uncertain perturbation systems via discrete different time scales dynamic neural networks. The main contributions of this paper are: (1) it is the first time to develop an identifier for nonlinear structure uncertain perturbation systems by using different time scales dynamic neural networks in discreet...
This paper concerns with the condition for absolute stability of nonlinear active disturbance rejection control (ADRC) for SISO systems. Firstly, a nonlinear ADRC system for a linear plant is transformed into the form of a Lurie system, for which the off-axis circle criterion is applied and a sufficient condition is obtained. Furthermore, for comparison, the circle criterion and Popov criterion are...
Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian noise, however, is still a challenge. For a class of nonlinear systems where all of the candidate parameters are contained in a definite parameter set, an online parameters and sates...
Nonlinear systems are widely used models for function approximation in the regression problem. Like the neural networks, there exists many strange behaviors in the learning process of some nonlinear systems, such as the slow learning speed, the existence of the plateaus and so on. As is known, the natural gradient learning method can overcome these disadvantages effectively. In this paper, we first...
In this paper, we consider the neighbouring extremals for a class of optimal control problems with control constraints. We first solve the optimal control problem using control parameterization method to obtain the optimal open-loop control and the optimal reference state. Then, a neighbouring feedback control law is derived for small state perturbations caused by changes on reference state at switching...
This paper addresses the robust H∞ input-output finite-time boundedness (IO-FTB) problem for a class of continuous delayed nonlinear systems with external disturbances. Both analysis and controller design issues are concerned. For the system under discussion, the nonlinearity is described by a dynamical bound rather than its exact dynamics, which covers all nonlinear systems that are locally Lipschitz...
In this paper, an improved full-form-dynamic-linearization (iFFDL) based model free adaptive control (MFAC) scheme (iFFDL-MFAC) is proposed for a class of discrete-time nonlinear systems with exogenous disturbance. The novel iFFDL data model is built along the dynamic operation points of the controlled plant using the concept called pseudo gradient (PG), where the exogenous disturbance is regarded...
The terminal iterative learning control (ILC) is designed for discrete-time nonlinear system based on neural networks. A terminal output tracking error model is derived by using a system input and output algebraic function as well as the differential mean value theorem. The weight is updated by optimizing an optimal objective function, and then is used for the input design. The technical convergence...
This paper considers the design of iterative learning control for a class of nonaffine nonlinear discrete-time systems which can perform a repeated task over a finite time sequence. A new error model formulation is derived such that an unknown nonlinearity can be approximated by a fuzzy system with available input and output signals. The function approximation error and external random disturbance...
In this paper, a novel sliding mode method is proposed to suppress the chattering phenomenon with unstable surfaces. Unlike the conventional sliding mode control methods, these unstable surfaces are utilized to design an available sliding mode structure. The main idea of this method is to design a sliding mode controller following a new reaching condition with unstable auxiliary surfaces. Based on...
Iterative learning control (ILC) is often used to eliminate repetitive disturbances and improve the tracking performance in the industrial processes. Due to its disability of reacting against real-time disturbances, the integration of model predictive control (MPC) and ILC constitutes the model predictive iterative learning control (MPILC) to improve its ability of rejecting non-repetitive disturbances...
In this paper, we propose a fault detection, isolation and fault-tolerant control scheme for a class of nonlinear uncertain systems with possible state and sensor failures. First, a model-based nonlinear estimator using input-output information is designed by considering both state and sensor failures. This estimator is used to generate the residual signal which is for detecting both state and sensor...
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