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In this paper we develop a state feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a special class of non-linear systems with input and state delays, based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. A Smith predictor built on the base of the reference model transfer function is introduced for indirect (implicit) input-delay...
Study of the intelligent vehicle platoon stability is always one focus of the automated highway system. The stability and control problem of the intelligent vehicle platoon will be studied, a parameter adaptive PID control algorithm is promoted as well as the analysis of the stability of the intelligent vehicle platoon based on this algorithm. Stability of the transfer function from the velocity and...
The paper deals with the stabilizability of linear plants whose parameters vary with time in a compact set. First, necessary and sufficient conditions for the existence of a linear gain-scheduled stabilizing compensator are given. Next, it is shown that, if these conditions are satisfied, any compensator transfer function depending on the plant parameters and internally stabilizing the closed-loop...
The paper deals with the LPV stabilizability problem for linear plants whose parameters vary with time in a compact set. First, necessary and sufficient conditions for the existence of a linear gain-scheduled stabilizing compensator are given. Next, it is shown that, if these conditions are satisfied, any compensator transfer function depending on the plant parameters and internally stabilizing the...
Iterative learning control (ILC) has been widely used in industrial applications. However, there are two critical assumptions that limit the use of ILC: a) no non-repetitive disturbance is present; and b) the trajectory needs to be the same every iteration. This paper proposes a control scheme based on the combination of ILC and disturbance observer (DOB) to relax these assumptions. First, the use...
This paper presents the L1 adaptive output feed-back controller for a class of uncertain nonlinear systems in the presence of time and state dependent unknown nonlinearities, and multiplicative unmodeled dynamics. The L1 adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically...
To analyze the robustness of adaptive control system, stability analysis of the closed-loop system and convergence analysis of parameters are two issues of most importance. In this paper, we study the convergence properties for the reduced-order adaptive control system achieved by Zhao and Pan (2004), where we established the stability properties for the closed-loop system. We explore the conditions...
The problem of control law design for a system consisting of linear stationary and static nonlinear parts is considered. It is supposed that parameters of the linear block are unknown, and its input-to-output transfer function is minimum phase. It is assumed that nonlinear part of the system is known inaccurately, irreducible to the linear block input and, generally, does not satisfy sector restrictions...
Motivated by the recent advance in adaptive output feedback control of affine nonlinear systems [8-10], an adaptive variable structure controller is proposed in this paper for solving the model reference adaptive control of nonlinear time-varying systems. Asymptotic output tracking performance can be achieved for relative degree one case. When the relative degree of the nonlinear system is greater...
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