The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper we present a method for the addition of integral action to nonpassive outputs of a class of port-Hamiltonian (pH) systems. The proposed integral controller is a dynamic extension, constructed from the open-loop system, such that the closed loop preserves the pH form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the...
A Lyapunov-based construction of a predefined-time stabilizing function (a function that stabilizes a system in fixed-time with settling time as function of the controller parameters) for scalar systems is considered in this paper. The constructed function involves the inverse incomplete gamma function, causing this function to be semi-global, i.e., the domain of definition of the function can be...
This paper investigates the fuzzy H∞ filter design issue for nonlinear systems with time-varying delay. In order to obtain less conservative fuzzy H∞ filter design method, a novel integral inequality is employed to replace the conventional Lebniz-Newton formula to analyze the stability conditions of the filtering error system. Besides, the information of the membership functions is introduced in the...
In this paper, the concept of global asymptotic stability in probability (GAS-P) is investigated for a class of nonlinear switching and impulsive systems with random disturbances, whose second-order moments are finite. Using average switching and impulsive interval approach, we show that when the average interval is large enough, a switching and impulsive system is GAS-P if all of its constituent...
In this paper, the finite-time boundedness (FTB) and the finite-time stability (FTS) for fractional order linear time invariant (LTI) systems are studied. By using the generalized Gronwall inequality, the sufficient conditions expressed in terms of matrix inequality to guarantee the FTB and FTS are derived. The proposed conditions are less conservative than the the ones in recent literature. Based...
In this paper the general subject area is the stability of multidimensional linear systems. The basis is the theory of a nonnegative shift operator acting on the space of continuous bounded functions given on a locally compact group. Some spectral properties of this shift operator are established and applied to obtain new results on the stability of a class of linear multidimensional discrete systems.
In previous research, a controller design procedure via generalized canonical transformations has been proposed to keep the passivity feature of Port-controlled Hamiltonian systems. The procedure has a general form and is applicable to spacecraft's attitude motion described with quaternion parameters. This paper investigates the roles of several design parameters in the generalized canonical transformations...
The behaviour of fractional-order systems with two agents is considered. In the paper, interactions between agents are defined like in Cucker-Smale models, where equations related to the position are the ordinary differential equations and velocities of agents are described by fractional differential equations. It allows us to take into account the memory that is included by taking the fractional-order,...
Addressed in this paper is the leader-following lag consensus of multiagent systems. By leader-following lag consensus, we mean that the followers achieve the state consensus with a lagged state of the leader. By means of Lyapunov-Krasovskii method, a sufficient condition is established which guarantees the required lag consensus. A numerical example is provided to illustrate the proposed theoretical...
This paper presents a new type of Lyapunov function which is called composite homogeneous parameter dependent quadratic Lyapunov function. By using this function, a condition is derived in terms of an auxiliary feedback matrix for determining if a given convex hull is an estimation of attractive region for a system under a saturated linear feedback. Most of the cases, the shape of attractive region...
Continuity of the polytope generated by a set of matrices is dealt with in this paper. We have defined a norm for the polytope, and verified when these matrices belong to a compact set in Rn×n the norm is bounded and the polytope is compact. Moreover, we have verified if the polytope is treated as a set-valued mapping from Rn to Rn, it is continuous and with convex and compact values.
This paper investigates the distributed finite-time tracking consensus problem of Networked Euler-Lagrange (EL) Systems with uncertainties. Based on the homogeneous finite-time control algorithm, the discontinuous and continuous super-twisting protocols upon integral sliding mode algorithm are respectively developed to achieve finite-time tracking consensus of Networked EL Systems in spite of the...
In this paper, an approach is proposed to design synchronization protocols for a network of second-order multi-agents. We prove a series of sufficient conditions for different asymptotic coordination dynamics including synchronization, consensus and stability. These conditions are rather general, which can include some existing results as corollaries. In addition, we can employ them to construct novel...
This paper studies the heading control of surface vehicles. A novel non-singular terminal sliding mode controller is developed guaranteeing that the vehicle can track the disired heading. Contrasting to the conventional terminal sliding mode control, the proposed algorithm can eliminate of the singularity problem. The proposed controller, not only, can take the vehicle convergence to the desired heading,...
For MIMO nonlinear differential-algebraic equations (DAE) subsystem, the Backstepping stabilization control method is studied and the results are applied to the decentralized control of power system. The concept of vector relative order for MIMO nonlinear DAE subsystem is put forward. If the vector relative order exists, then the subsystem can be transformed equivalently by a diffeomorphism and a...
The rotary (Furuta's) pendulum is used to analyzed the performance of a new nonlinear optimal (H-infinity) control for underactuated robotic systems. After applying partial feedback linearization, the pendulum's dynamic model is first transformed to an equivalent form. The later description of the pendulum's dynamics undergoes approximate linearization which takes place round a temporary operating...
The fuzzy parameter varying (FPV) system is a novel kind of nonlinear time-varying model with advantages in handing nonlinear time-varying systems than the general T-S fuzzy model. Few researches have been conducted on the stability analysis of FPV systems, except for some results derived based on the quadratic Lyapunov function. In this study, stability analysis of the FPV system is conducted on...
This paper studies an event-triggered control problem for nonlinear systems in the presence of external disturbances. To avoid infinitely fast sampling caused by disturbances, a new event-triggering mechanism is proposed, which depends not only on the system state but also on an estimation of the influence of the external disturbance. Moreover, the closed-loop event-triggered system is proved to be...
In this paper, we introduce a new policy defining a stabilizing event-based controller for linear time-invariant systems. The plant operation is divided into two phases, a transient phase and a steady-state regime. In transient regime, we define a Lyapunov-like function; a positive definite function that vanishes only at the origin. However, while a regular Lyapunov function is decaying in time, the...
In this paper we investigate a possibility of the linear difference system stabilization with time proportional delay. Using the Razumikhin's approach [1] and method of difference transformations [2] we obtain the sufficient conditions of the asymptotic stability of the system. Then we construct of the stabilizing control and derive the sufficient conditions for the existence of such control.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.