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Studies have shown that feedback linearization can provide an effective controller for many types of nonlinear systems. It is known, however, that these controllers are not robust, in particular to model uncertainties. Recent work on sensitivity theory has shown that it can provide the least conservative design for robust feedback linearization. This is achieved by adjusting the control input to minimize...
This paper develops a generalized extended state observer based control (GESOBC) for nonlinear systems with matched and mismatched uncertainties. The control law is designed based on estimated states via generalized extended state observer (GESO). The effect of external disturbances as well as parametric uncertainties are nullified by introducing disturbance compensation gain. The designed controller...
The work done in this paper attempts to exploit a Stackelberg game theoretic approach for resilient control of a networked system. A switching control design has been incorporated to modify the system dynamics on occurrence of an attack to enable online recovery. A case of grid forming Voltage Source Inverters (VSI's) is considered and systematic analysis concerning effectiveness of the proposed control...
This paper proposes a heterogeneous gains based controller design methodology to stabilize a particular type of collective motion in a multi-agent system where the heading angles of the agents are in balanced formation. Balancing refers to the situation in which the movement of agents causes the position of their centroid to become stationary. Our interest, in this paper, is to achieve balanced formation...
In this paper, we investigate the correlation between optimal set of driver nodes and networked sensitivity of Complex Networked Systems (CNS). Here, we study the networked sensitivity between a pair of control and output nodes for interconnected directed and undirected networks. We investigate the importance of the optimal driver nodes based on new index of the networked control system, which is...
In this paper, active front steering and direct yaw moment of a vehicle are controlled simultaneously to improve its stability. The control strategy uses two structures, the upper and lower levels of control. The sliding-mode control (SMC) methodology is used in the upper-level control in order to generate the corrective steering wheel angle and yaw moment. The yaw moment is realized through braking...
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