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Small gain theorem is used to interpret stability and robustness of linear active disturbance rejection control(LADRC). For the case linear unmodeled dynamic and additive external disturbance, LADRC system is decomposed into two interconnected subsystems. The first subsystem includes all parametric uncertainty of the plant, while the second has a gain which can be adjusted by choosing the parameters...
Quantum robust control has been recognized as a critical issue in quantum systems, since many quantum systems are unavoidably subject to disturbances and uncertainties in practical applications. Considered uncertainty of Hamiltonian in the Markovian quantum system, on one hand this paper define the control effect based on fidelity, purity and degree of coherence, on the other hand design control scheme...
In this paper, the state extending and filtering robust control (SEFERC) is proposed and investigated. In the SEFERC, the uncertain nonlinear part of the MIMO is extend to the new state parameter and estimated by the nonlinear tracking filter. With the estimated value, by the direct feedback linearization (DFL) method and H∞ control method, the nonlinear system can be converted to the linear system...
In recent years, wireless power transfer systems have successfully been used in various industrial applications due to their contactless power transfer feature. However, these systems behave as higher order resonant networks and hence are highly sensitive to changes in system parameters. Traditional PID controllers often fail to maintain satisfactory power regulation in the presence of parametric...
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform...
In this work, an event-triggered adaptive robust controller (ET-ARC) design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter uncertainties. In the event-trigger scheme, the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance...
This paper deals with the robust control problem for linear systems with both gain and time constants variations under fractional order PIλDμ controller. A robustness specification to the parameters variations is proposed. For those systems with more than one uncertain time constant, the robustness specifications are analyzed and simplified. To minimize the phase offset nearby the crossover frequency,...
This paper develops a practically effective contouring control strategy for a flexure-based parallel micro-motion stage to achieve excellent high-speed contouring performance. Such flexure-based micro-motion systems used in many industrial applications usually have the problems of dynamical nonlinearity, model uncertainty and disturbance, especially under high-speed contouring tasks, which will greatly...
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results...
In this paper, a robust control method is proposed for a class of fractional-order nonlinear system with unknown system parameter based on Lyapunov direct method. The Caputo definition is used to describe the fractional-order dynamic system. The controller is simple and enables asymptotically stability to be achieved without the computation of the conditional Lyapunov exponents. Finally, simulation...
In this paper, an off-policy reinforcement learning method is developed for the robust stabilizing controller design of discrete-time uncertain linear systems. The proposed robust control design consists of two steps. First, the robust control problem is transformed to an optimal control problem. Second, the off-policy RL method is used to design the optimal control policy which guarantees the robust...
Event-triggered output robust control algorithm is proposed in the paper. Controller synthesis is based on the consecutive compensator method. Event-trigger mechanism is based on the high-gain state observer. Developed controller provide input-to-state practical stability of unstable linear plants under conditions of parametric uncertainties and bounded external disturbances. Computer simulation confirm...
The output tracking control problem is considered for a class of uncertain nonlinear systems with time delays and dead-zone inputs. A simple design method is proposed so that a class of adaptive robust output tracking control laws can be synthesized. In particular, the synthesized controllers have a rather simple structure, and can be easily realized in practical engineering control systems. In this...
This paper deals with the control problem of a dc-dc boost converter whose operation takes place in an uncertain environment. The proposed nonlinear controller achieves the desired performance in a number of different situations. Uncertainties, unknown but bounded, are considered to be present in the load as well as in the input voltage. Effective control results as long as certain matching assumptions...
Active disturbance rejection control (ADRC) exemplifies the spirit of the data-driven control (DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at...
This paper presents a finite-time control strategy for uncertain systems with unknown time-invariant parameters. The finite-time adaptive robust controller is designed via Lyapunov approach, where projection-type integral and incremental adaptation laws are applied in estimation of the time-invariant parametric uncertainties, respectively. The terminal attractor is suggested in the adaptive robust...
A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic uncertainties. In this paper, the uncertainties are the noises which lie in a bounded ellipsoid set. The assumption weakens the requirements of the known Gaussian distribution in the traditional Linear Quadratic Gaussian (LQG) control. Based on the linear characteristic of the system and robust optimization...
The welding process is one of the most important application in uncertain sampled-data system. In this paper, the study deals with a fundamental issue of non-fragile control for a class of uncertain sampled-data system. The focus is to design non-fragile controller against possible perturbation by combining pole contraints theory and the linear matrix inequality approach which results in sampled-data...
The authors consider a cooperative output regulation problem (for short, CORP) for linear multi-agent uncertain multivariable systems by distributed output-feedback control. Specifically, based a specific coordinate transformation to establish a multi-input multi-output (MIMO) output-feedback norm form, we are able to develop a novel class of internal model-based protocols for the problem. Compared...
A sliding mode robust control based on HJI theory is proposed for the synchronous control of the H-type precision motion platform driven by the dual linear motors. Although the same control method is operating on two Permanent Magnet Linear Synchronous Motors (PMLSM) with identical parameters. The synchronous error between the two motors is unavoidable due to the unbalanced forces, mechanical assembly...
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