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Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
In this paper a fuzzy sliding mode control (FSMC) for spacecraft attitude tracking in terms of quaternion is designed. For this purpose, at first, the spacecraft dynamic and kinematic equations based on quaternion are described. Then, the design procedure of related variable structure controller is presented. To prove the system stability in sliding mode and also to guarantee the convergence of quaternion...
This paper investigates the problem of global adaptive stabilization by output-feedback for a class of nonlinear systems with uncertain control coefficients and unknown growth rate. By extending the classical K-filters, we introduce novel high-gain K-filters with a dynamic gain updated on-line inspired by [1, 2], and thus propose an observer to reconstruct the system state. Then, motivated by the...
This paper focuses on the problem of resilient hybrid guaranteed cost control for a class of uncertain discrete-time switched linear systems. The controller gain to be designed is assumed to have additive and multiplicative gain variations. Based on multiple-Lyapunov function technique, the design of resilient hybrid guaranteed cost controllers is derived to make the corresponding closed-loop system...
The aim of this note is to study robust non-fragile stabilization and robust non-fragile D-stabilization for the delta-operator formulated linear uncertain systems. The uncertainty is assumed to be norm-bounded and multiplicative controller gain variations are assumed in existence in the state feedback gain. Based on the notion of non-fragile quadratic stabilizability, a criterion of robust non-fragile...
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