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In this paper, based on the theory of sliding mode control and fuzzy logic control, a new fuzzy sliding mode controller with a fixed-order compensator (FSMC&C) has been presented for application to seismically excited building structures. The major advantages of this method over the conventional sliding mode control are as follows: (i) it make trade-offs between control efforts and specific response...
This paper presents the manipulator with the new joint which can passively switch free state to drive state and vice versa. The manipulator with the free-state joint is categorized as a system subjected to a nonholonomic constraint; hence, its smooth feedback control cannot be implemented. In this paper, the issues on its control are clarified through the test with the experimental setup of the manipulator...
The safety control problem for hybrid automata with imperfect mode information and continuous control is addressed. When the controller does not have access to the mode of the system, available static feedback techniques cannot be applied. We propose a dynamic feedback strategy in which a mode estimator constructs the set of possible current system modes. A control map is designed that on the basis...
In this paper we study the linear quadratic optimal control problem for linear hybrid systems in which transitions between different discrete locations occur autonomously when the continuous state intersects given switching surfaces. In particular, we make an explicit connection between the newly developed, Pontryagin-type Hybrid Maximum Principle and the Bellman Dynamic Programming approach. As a...
This paper presents qualitative results on the global structure of the time optimal trajectories of the planar pendulum on a cart. This mechanical system is a benchmark to test nonlinear control methods and various papers addressed the problem of computing time optimal open-loop controls. Relying on the theory of optimal synthesis, we provide a discontinuous feedback giving optimal solutions for any...
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