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It is a key issue for table tennis robot that the flight trajectory of ball could be rapidly predicted within a certain precision. Due to the nonlinear model of the ball's flight, only all state including the position and velocity at each event are catched, could its whole trajectory be obtained. However, since only the position could be measurable by cameras, the velocity should be predicted by the...
This paper considers the problem of semi-global finite-time stabilization by output feedback for a class of uncertain nonlinear systems. The nonlinearities of the systems considered in this paper are bounded by both higher-order and lower-order terms in unmeasurable states, which makes existing design schemes for semi-global output feedback stabilization inapplicable. In this paper, based on the homogeneous...
In this paper an observer for a polynomial nonlinear (nonautonomous) system constrained to a bounded subset of the state space is considered. The presented approach allows the construction of a locally asymptotically stable observer, which is guaranteed to be stable for any possible state within the limits. It is based on a theorem of Jacobi and Prestel. The problem is rewritten as an optimization...
This paper presents a new method for fault tolerant control of nonlinear systems described by Takagi-Sugeno fuzzy systems with unmeasurable premise variables. The idea is to use a reference model and design a new control law to minimize the state deviation between a healthy reference model and the eventually faulty actual model. This scheme requires the knowledge of the system states and of the occurring...
Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid for almost all the solutions of the system. Based on the combination of Lyapunov and density functions, analysis methods are proposed for the derivation of almost input-to-state stability,...
This paper studies the design of a full-order, high-gain observer for a class of minimum-phase nonlinear systems. The dynamic state feedback design is modified to include the observer for the internal dynamics. It is shown that the performance of such a dynamic partial-state feedback control can be recovered by the output feedback control using a sufficiently fast high-gain observer, in the presence...
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