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This paper aims to design a controller to robustly stabilize uncertain nonlinear systems with time-varying delay and norm bounded uncertainties via Takagi-Sugeno (T-S) fuzzy model. The stabilization conditions are given in the form of linear matrix inequalities using a single Lyapunov-Krasovskii functional (LKF) combining the introduction of some relaxation matrices and only one tuning parameter....
This paper presents a method of designing a modified repetitive control system (MRCS) based on a two-dimensional (2D) continuous-discrete hybrid model. First, a 2D continuous-discrete hybrid model of MRCS is established. Next, the design of the feedback controller of the MRCS is converted to the stabilization problem of the 2D hybrid system with a static-state feedback. Then, by using a 2D Lyapunov...
The problem of designing H?? dynamic output-feedback controllers for polytopic Delta operator systems is considered. Given a transfer function matrix of a system with polytopic uncertainty, an appropriate, not necessarily minimal, state-space model of the system is described which permits reconstruction of all its states. To this model, a new polynomial parameter-dependent approach to state-feedback...
This paper presents an adaptive controller design method for a class of system with modeling uncertainties or environment disturbance. The controller has a paralleled structure of Dynamic Matrix Control and PID Control. The weight for each of the controller can be adaptively tuned through iteratively learning. It can make full use of the model information, meanwhile resisting disturbance and overcoming...
Fuzzy Lyapunov synthesis is extended to the design of type-2 fuzzy logic system controllers for the output regulation problem for a servomechanism with nonlinear backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence...
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...
This article focuses on the design of a discrete robust Hinfin controller for an input-shaped, underdamped, (stable or unstable) system. The system is noiseless, uncertain, time-invariant and its characteristic polynomial coefficients are allowed to vary within predefined interval-sets. A discrete input shaper is used for the nominal system generating a precompensated discrete finite impulse response...
In this paper, we show a controller design method for a class of discrete-time nonlinear systems described in T-S(Takagi-Sugeno) fuzzy model, which has uncertainties in state and input. The robust and non-fragile fuzzy Hinfin controller is designed based on Lyapunov function theory, PDC(parallel distributed compensation) and PLMI (parameterized linear matrix inequality) method. Those ensure the asymptotically...
In the present paper, we consider a design method that provides low-sensitivity control with robust stability for multiple-input/multiple-output continuous time-invariant systems having an uncertain number of unstable poles. First, the class of uncertainty considered in the present paper is defined and the necessary and sufficient robust stability condition is presented for the system having this...
To a class of uncertain nonlinear discrete time delay systems, this paper considers the problem of non-fragile guaranteed-cost Hinfin controller design method. First, based on the stability criterion and linear matrix inequalities (LMIs) theory, a sufficient condition of the existence of the non-fragile guaranteed-cost Hinfin controller is established. Then the problem of control is solved via a robust...
A multi-model controller based on the neural network sets is proposed for the time-variant nonlinear systems with uncertainty and time-delay in this paper. The local-models and the local-controllers are built to neural network sets. The output of the controller is the weighted sum of the local-controllers' outputs, and by this way the smooth-switch among the local-models is realized. The robustness...
The control problem of roll motion of ships which has multiple equilibrium points is investigated in this paper. A nonlinear control law is derived to make the states of this system asymptotically track and regulate the desired state. The control scheme is highly robust and achieves a stable closed loop system despite the presence of uncertainty and external disturbance. An illustrative simulation...
This paper studies how to design a congestion controller in TCP/AQM networks. In Hollot et al. (IEEE Trans. on Automatic Control, Vol. 47, No.6, 2002), the congestion controller is conservatively designed due to using the linearized model of the TCP/AQM networks in which a structured time-delay related term is treated as an unstructured uncertainty. Without treating any time-delay related term as...
This paper will present a study on the robustness of anti-windup systems where the plant uncertainty can be expressed by LTI norm-bounded operators. The treatment is constructed under the IQC framework of Megretski and Rantzer. Robustness of anti-windup systems against LTI uncertainty using frequency dependent IQCs are less conservative than those where plant uncertainty is addressed by static IQCs...
Feedback controllers that automatically counteract the effects of adversarial interventions on the operation of asynchronous sequential machines are considered. Bursts - fast outbursts of characters generated by the controlled machine during transitions - are employed to broaden the conditions under which such controllers exist. Included are necessary and sufficient conditions for the existence of...
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