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This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems described as hybrid automata. The framework reposes both on a suitable definition of the references to be tracked and on input-to-state stability properties of the feedback laws in order to guarantee a desired behavior of the hybrid automata in terms of robust transition between...
This paper proposes extensions to a recent control Liapunov function (CLF) based method for designing dynamical systems with trajectories that converge to the zeros of a nonlinear vector function f . Specifically, the CLF design method is extended to the case when the Jacobian of the vector function can be decomposed into a known part and a partially known part, for which certain norm bounds are known...
This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback control. An adaptive control technique is used to handle the unknown parameter vector in the exosystem. It is shown that this unknown parameter vector can be exactly estimated asymptotically if the controller incorporates a minimal internal...
A recursive procedure is proposed to reduce a set of inequality constraints of high relative order to single constraints of relative order one for a class of uncertain, multi-input nonlinear systems. A modification of a nominal control signal on the newly constructed constraints guarantees robust constraint satisfaction. The resulting robust invariant controller is applied to the constrained flight...
In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown...
A robust model predictive controller is proposed for input constrained linear systems with discrete and distributed delay in the states, where uncertainty is described by an additive bounded disturbance. The method is an extension of recently developed, tube based model predictive control to time-delay systems. A robust local controller maintains the disturbed trajectory of the controlled system in...
This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems. In addition to the desired performances and the convergence of the tracking error, the proposed approach guarantees the uniformly ultimately boundedness of the resulting closed-loop system. Furthermore, it allows overcoming many problems related to adaptive fuzzy controllers...
This paper deals with the robust metric temporal logic (MTL) testing and verification of linear systems with parametric uncertainties. This is a very general class of systems that includes not only linear time invariant (LTI) systems with unknown constant parameters, but also linear time varying (LTV) systems and certain classes of nonlinear systems through abstraction. The two main tools for the...
This paper is concerned with robust passivity analysis of a class of uncertain nonlinear singular time-delay systems as well as with passivity-based sliding mode control of such systems. First we derive a delay-dependent sufficient condition expressed by means of linear matrix inequalities for achieving the generalized quadratic stability and robust passivity of the sliding mode dynamics. Then we...
This paper deals with a design problem of robust controllers for polytopic uncertain systems. The proposed design method is based on computation of the trajectory for the uncertain system and differs from the existing methods based on quadratic stabilization via Lyapunov criterion. In this paper, we show that sufficient conditions for asymptotical stability of the polytopic uncertain system and a...
This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asymptotic tracking problem associated with the well known Lorenz system.
This paper presents a new robust tracking control for the nonlinear continues-time chaotic phi6- van der pol oscillator with dynamic uncertainties. The uncertainties could be composed of external disturbance, parameter variation or modeling errors. The designed controller which is based on Lyapunov methodology is an input-output control scheme that makes chaos suppression. The controller is equipped...
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