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In this paper, we address the problem of global practical tracking by output feedback for a class of nonlinear time-delay systems. The time-delay system under consideration satisfies linear growth condition on unmeasured states with an output dependent incremental rate. By using the dynamic gain scaling technique, a memoryless output feedback tracking controller is developed. With a modified Lyapunov...
This paper investigates the problem of full state constrained control based on event triggered for a class of high-order nonlinear systems. Compared with the previous designs, the reduced order dynamic gain observer (RDGO) is constructed to estimate the state variables unmeasured. By introducing a barrier Lyapunov function (BLF) to every step in the backstepping procedure, an adaptive backstepping...
This paper is concerned with power and rate control for wireless communication networks with nonlinear channel fading. A new mathematical model of power and rate control system is derived, and a robust power and rate controller is designed based on sliding mode control. A sufficient condition for the existence of stable sliding surfaces is established via linear matrix inequality, and the controller...
The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification...
This paper deals with the stabilization problem of a class of nonlinear time-delay systems with input saturation by output feedback control. The precise knowledge of the nonlinearities and the time delay need not to be known a priori. It is just required to satisfy linear growth condition. With the construction of linear observer, we give the design of the controller and prove the local stabilization...
In this paper, we investigate the Bayesian filtering problem for discrete nonlinear dynamical systems which contain random parameters. An augmented cubature Kalman filter (CKF) is developed to deal with the random parameters, where the state vector is enlarged by incorporating the random parameters. The corresponding number of cubature points is increased, so the augmented CKF method requires more...
In this study, nonlinear and actuator redundancy problems are proposed in the vehicle lateral stability control system for a four in-wheel motor drive electric vehicle. The solution of tire nonlinear problem uses nonlinear model predictive control method to obtain the target direct yaw moment. The torque distribution algorithm is designed to use the constrained optimal control theory based on Lagrange...
For the patients with type 1 diabetes (T1D), it is very important to keep their blood glucose concentration in the normal level by insulin injections. As the glucose level can be checked consistently by continuous glucose monitoring (CGM) system, it enables estimation of near-future glucose prediction by developing a reliable prediction model. In this paper, a kernel-based adaptive filtering algorithm...
This paper aims to analyze the synchronization phenomena in the system consisting of n identical metronomes on a hanging plate by using the describing function (DF) method, which deals with the driving torque as a discontinuous function of the angle and angular velocity of each metronome. Different from a previous study on the synchronization of the system with the first harmonic of the angle of each...
Algebraic dynamical system and Logistic mapping system was studied in this paper. Through the establishment of nonlinear equations in bifurcation points, the solution of the bifurcation values problem is analyzed. A more precise period-doubling bifurcation point optimization is proposed. Based on Mathematica program process, the optimization results are given. The precise bifurcation values and the...
This paper deals with the stochastic observer design problem for the Markovian jump one-sided Lipschitz system with partly unknown transition rates. Firstly, the definitions as well as properties of one-sided Lipschitz function are introduced. Then, the observer is constructed for the system by Luenberger observer theory and the existence condition of the observer is derived by linear matrix inequality...
The problem of the stability analysis of genetic regulatory networks (GRNs) with time varying delays are proposed in this paper based on a new delay-decomposing method. Some appropriate Lyapunov-krasovskiis functionals are defined on each of the obtained subintervals, some integral inequalities and the convex combination technique are utilized to deal with the bound of the derivative of the Lyapunov-krasovskiis...
In this paper, we consider a class of discrete-time multi-input inhomogeneous bilinear systems. Controllability and near-controllability of such systems have been well studied in our previous work, where controllable subspaces and nearly-controllable subspaces have also been derived. We continue the study on the controllable subspaces and nearly-controllable subspaces of the systems in this paper...
Rotorcraft Aerial Manipulator (RAM) system is composed of a Rotorcraft Unmanned Aerial Vehicle (RUAV) and a multi Degree-Of-Freedom (DOF) manipulator, which is designed to fulfill aerial manipulation. Moments of inertia and center-of-mass position for RAM system vary when the manipulator moves. The influence of robot arm motion is treated as perturbations for RUAV in the process of overall system...
In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface...
The PID control technique which is improved by linear extended state observer (LESO) is applied to the design of the flight control system for parafoils with Global Position System(GPS). Firstly, in this paper, the nonlinear dynamics model of the parafoil system is outlined. Then, method of guidance and the theory of LESO is presented in detail. Next, the control system using improved PID control...
This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique,...
This paper investigates two finite-time attitude tracking controllers for spacecraft with attitude dynamics presented by rotation matrix. With the use of rotation matrix, unwinding problem widely exists in controllers based on quaternion can be dealt with. Based on backstepping method, the first controller can be developed in the presence of external disturbance. However, the upper bound of the disturbance...
This paper focuses on a switching control of the temperature protection problem for aero-engines. Firstly, an equilibrium manifold expansion (EME) model is established to describe the aero-engine for high accuracy. Then, a speed regulation controller is designed to obtain the asymptotic stability. As the temperature measurements usually have errors for aero-engines, a safety protection control strategy...
If accuracy and calculation ability are taken into account at the same time, the existing control strategies for aero-engine are too conservative to obtain reasonable dynamic behavior. Based on ANN model-free adaptive control theory and biological endocrine intelligent principle, an integrated MFAIC control algorithm for aero-engine consists with off-line and on-line online part is put forward. First...
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