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In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate proposed adaptive control approach based on the high-gain principle, so-called, “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO...
The paper describes the modified backstopping robust algorithm for time-invariant linear single input single output (SISO) plants with delay. It is shown that the proposed algorithm is realized by one filter on input signal with dimension n, where n is a plant order. The derivatives of stabilizing control signals are not calculated but estimated by using the first order observer. This fact simplifies...
The uncertain nonlinear descriptor systems with multiple time delays in system state and control are studied. The systems not only contain uncertainties, but also experience uncertainties in the input channels. The condition for robust stabilizable independent of delay of this kind of systems is presented by using Lyapunov methods. Using solutions of Lyapunov and Riccati equations, a linear state...
In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for...
This paper presents a modified adaptive Kalman filter for sensorless current control of a three-phase inverter based distributed generation system. The delay introduced by measurements and the digital signal processor is compensated using a modified Kalman filter. The states of control variables can be estimated one sample in advance and the number of the measurement sensors can be reduced. For system...
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