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In this paper, an interval type-2 fuzzy kinematic control (IT2-FKC) combined with an interval type-2 adaptive fuzzy sliding-mode dynamic control (IT2-AFSMDC) are proposed for controlling the trajectory-tracking of a nonholonomic wheeled mobile robot (WMR). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced, and then the IT2-AFSMDC is developed...
Proposed is a new approach for synthesizing an internal model control (IMC) anti-windup (AW) compensator for a stable plant subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability robustness of the unconstrained system, the proposed linear AW compensator improves the performance of the constrained system. The analysis conducted through the loop decomposition...
The capabilities of extended state observer (ESO) for estimating uncertainties is discussed in this paper. The scope of the disturbances that can be observed by LESO with bounded observing errors is given. The observing errors for several typical disturbances-constant disturbance, sine disturbance, ramp disturbance, and square wave disturbance are further analyzed. It is demonstrated that ESO can...
In this paper we present the results of our recent work on asymptotic regulation using zero dynamics inverse (ZDI) design for a one dimensional heat equation applied to the non-colocated case. In our previous works we have considered several different types of examples for the co-located case in which boundary control is used to track reference signals given at the same end of the rod or on the interior...
To obtain much smaller miss distance and even shorter response time, the problem of integrated guidance and control for homing missiles in the pitch plane is considered. As the relative motion equations and the missile dynamics equations are built in different coordinates, the integrated guidance and control model is difficult to build. Also, during the flight, the accurate full-envelope aerodynamic...
Based on two recent results, several new criteria of L2 - Linfin performance for continuous-time linear systems are established by introducing two slack matrices. When used in robust synthesis of systems with polytopic uncertainties, it can reduce conservatism inherent in the earlier quadratic method and the parameter-dependent Lyapunov function approach. Two numerical examples are included to illustrate...
In this note, a general framework for the design and analysis of high-performance robust antiwindup (AW) compensators is presented. The proposed framework combines the Weston-Postlethwaite AW scheme with ideas from residual generation and from robust control architectures based on high-performance nominal controllers. It is shown that the framework is well connected to the Youla controller parameterization...
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