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This paper investigates the hybrid projective synchronization problem between different fractional-order chaotic systems in the presence of system parameter uncertainty and unknown bounded external disturbances. By means of both the stability theory of fractional order differential system and adaptive control method, a novel robust controller and updating laws have been designed for achieving hybrid...
A novel methodology for designing nonsingular terminal sliding mode controller (TSMC) for a class of uncertain nonlinear systems is introduced. The system states can be guaranteed to reach a integral terminal sliding surface in finite time and then converge to the origin in finite time, while the singularity problem is eliminated. Compared with many existing works on nonsingular TSMC, the proposed...
The problem of output feedback adaptive stabilization is addressed for a class of stochastic nonlinear systems with unknown time-varying delays and unknown control directions in this paper. Firstly, the unknown control coefficients are lumped together by using a linear state transformation, and the original system is transformed into a new system for which control design becomes feasible. Then, after...
In this paper, we investigate the group consensus problems of networked Euler-Lagrange systems with parametric uncertainties under directed acyclic interaction topology. We propose an adaptive group consensus protocol for such networks with two acyclic partition. By thoroughly exploiting the specific structure of acyclic interaction topology, we provide a convergence analysis procedure for the proposed...
The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle's highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial...
In this paper, we propose a novel control scheme to solve trajectory tracking problem of two-link flexible manipulator system. The partly linear flexible system is obtained via using the nonlinear decoupling feedback control method. An extended state observer is introduced to estimate the system's nonlinear part. Back-stepping controller is designed to guarantee manipulator tracking desired trajectory...
This paper presents a new study on parametrized controller for non-canonical form nonlinear systems using neural networks. Unlike commonly studied canonical form systems whose neural-network based approximations have explicit relative degrees and can be directly used to derive controller parameters, non-canonical form systems usually do not have such a feature, because neural-network based approximations...
This paper studies parallel simultaneous stabilization of a class of nonlinear descriptor systems with actuator saturation. First, the actuator saturation is expressed by a control input and compensation. Then, under state undecomposed status, two nonlinear descriptor systems are combined to generate an augmented nonlinear descriptor system by using a suitable output feedback. Based on which, a parallel...
This paper investigates the state feedback stabilization for a class of switched feedforward nonlinear systems with time-delay and arbitrary switching. A coordinate transformation is introduced at first. Then common Lyapunov function(CLF) and state feedback stabilization controller are constructed simultaneously in a framework of recursive method. The homogeneous domination approach is introduced...
This paper studies active disturbance rejection control (ADRC) for the longitudinal dynamics of an air-breathing hypersonic vehicle. To track the altitude and velocity reference commands, altitude subsystem and velocity subsystem are designed independently based on backstepping method. An active disturbance rejection controller is designed by each step. The internal and external disturbances can be...
Direct control allocation, which solves moment error minimization problem, for redundant reaction wheel configurations in spacecraft attitude control is considered. Based on the position of given command moment with respect to the moment envelope, the proposed direct control allocation strategy is performed in three successive steps. Firstly, a modified generalized inverse, which provides the greatest...
This paper presents a new attitude controller design method for underactuated reentry vehicles. Inverse dynamic method can't be applied to a non-minimum phase system directly, while non-minimum phase problem is inevitable for underactuated reentry vehicles. In order to adopt inverse dynamic method to design attitude controller, a decomposition approach is introduced to cope with the non-minimum phase...
In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop...
An overhead crane is an underactuated system with less driving force than its degrees of freedom, which suffers from such factors as complex coupling between states, continuous disturbances, and so on. This paper designs an energy-based adaptive controller, which, together with a constructed fuzzy observer, makes an overhead crane stable at an “inclined” equilibrium point. Specifically, based on Lagrange's...
This paper considers the global asymptotic regulation control for a class of nonlinear systems with dynamic uncertainties, which satisfies the integral input-to-state stable (iISS) condition. The uncertain vector field not only depends on the system output, but also the unmeasurable inverse system state. By constructing a (n + 1)-order observer, we design a dynamic output feedback controller, which...
This paper is focused on developing a gain-scheduled linear parameter varying (LPV) tracking controller for a flexible air-breathing hypersonic vehicle model. Using a method of gain-scheduled H2 controller synthesis for continuous-time LPV systems based on parameter-dependent Lyapunov function (PDLF) approach, a combination of LPV control and tracking control of hypersonic vehicle is adopted for the...
In this paper, the finite-time attitude control problem for rigid spacecraft with external disturbance is addressed. First, a problem of existing non-singular terminal sliding mode is raised, and then we design a non-singular finite-time attitude controller by using a special Lyapunov function with a power integrator form, which enables the system states converge to a residual set in a finite time...
This paper deals with the problem of quantized feedback control for a class of nonlinear systems subject to time-varying delay. The nonlinearity is assumed to satisfy the local Lipschitz condition, and the system delay is supposed to be time-varying but bounded. Simultaneously, the maximum admissible Lipschitz constant through convex optimization is obtained. The purpose is to design the quantized...
Based on anti-windup supervisory control, a fuzzy self-adaptive controller is designed for a class of nonlinear systems with input saturation. Based on the fuzzy logic system and the projection method of parameters, the fuzzy self-adaptive tracking control is presented for the input saturation systems. In order to improve system performance, the supervisory control anti-windup scheme is introduced...
A position control method for a planar Acrobot based on fuzzy control is presented. The system control objective is to control the endpoint position from any initial position to any reachable target position. Firstly, the state constraint relationship between the active joint and the passive joint can be obtained by employing the complete integral characteristics of the planar Acrobot. Next, another...
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