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This paper addresses the robust non-fragile leader-following consensus problem for multi-agent systems against state-dependent uncertainties and controller coefficient variations. Without the requirement of knowledge of uncertainties of agents and controllers, adaptive distributed controllers are constructed to guarantee the follower agents tracking the leader agent. Asymptotic consensus results of...
We investigate the filter design problem for discretetime interval uncertain positive systems under the ℓ1 performance in this paper. First, we propose some conditions expressed by linear programming to ensure the asymptotic stability and the ℓ1 performance for given positive systems. Then, we establish a novel filter design approach and an iterative algorithm to obtain the desired filter for interval...
This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity...
A mathematical model and a state feedback controller for uncertain networked control systems with disturbances and short random delays are investigated in this paper. The uncertainty of transmission delay is translated into the uncertainty of coefficient matrix in the model, and the uncertainty parameter is described by a Poisson distribution function. Then, by using the Lyapunov stability theory...
This work investigates the adaptive finite-time tracking problem for a class of strict-feedback nonlinear systems with parametric uncertainties and symmetric constant output constraint. A tan-type Barrier Lyapunov Function (BLF) is proposed to ensure the boundedness of the output tracking error, and a new tuning function is given to eliminate the effect of uncertainties. It is theoretically shown...
Adaptive iterative learning control is a popular approach to control parametric time-varying systems over finite time interval. However, initial resetting condition limits the application of a large amount of learning control algorithms. In this paper, we propose a suboptimal iterative learning control for a class of dynamic parametric systems to solve this problem. An error-tracking control strategy...
This paper studies the issues of quasi-passivity, feedback quasi-passification for a class of switched nonlinear system using multiple storage functions. A quasi-passivity concept for a switched nonlinear system is proposed. Firstly, a state-dependent switching law is designed to render a switched nonlinear system quasi-passive. Secondly, quasi-passification is achieved by the design of a state-dependent...
This article investigates the problem of fault detection for a class of uncertain systems by a new method. Based on the system's own uncertainty and external disturbances, a more effective fault detection method is designed by the method of homogeneous polynomial function. This detection method not only suppresses the effects of disturbances and uncertainties on the residual signal but also makes...
A 6DOF mathematical model of the “H” type quadrotor prototype is developed by the Newton-Euler method to analyze the complex nonlinear position and attitude control problems in this paper. Then the PID controllers are designed for the control of the horizontal position of the quadrotor. The adaptive backstepping sliding mode controllers are designed for the altitude and attitude control of the quadrotor...
This paper addresses robust consensus for a class of linear multi-agent systems (MASs) with uncertainty in communication network. It is suppose that the weighted adjacency matrix of the MAS is known to lie within an uncertainty polytope. Base on the Lyapunov stability theory combining with homogeneous parameter-dependent (HPD) Lyapunov functions, necessary and sufficient conditions for ensuring robust...
This paper aims to study the robust nonfragile H∞ controller design problem for a class of uncertain discrete-time nonlinear singular systems. A Takagi-Sugeno (T-S) fuzzy singular model with norm-bounded uncertainties is employed to represent a nonlinear plant. Basing on observers for the fuzzy model, we can construct a fuzzy controller with uncertainties existing in the implementation process. A...
The novel backstepping control schemes are proposed to deal with the formation control problem of multiple unmanned aerial vehicles (UAVs) with input saturation constraint and model uncertainty. The trajectory tracking error model of the multiple UAVs formation is established. Then the standard ideal backstepping formation controller, which is applied to address the case with certain model and no...
In this paper, we consider the robust sliding mode control problem for a class of systems with norm bounded parametric uncertainty and external disturbance. Based on Lyapunov stability theory and linear matrix inequality approach, the proposed control scheme can achieve both asymptotic stability and some robust performances, and the corresponding robust controller that assures the occurrence of sliding...
This paper considers the stabilization problem for one-sided Lipschitz nonlinear differential inclusion system with stochastic disturbance. Firstly, the stability theory of stochastic differential equation is extended to stochastic differential inclusion. Then, the feedback law is constructed to make the closed-loop system exponentially stable in mean square. Finally, two numerical examples are simulated...
This paper is concerned with model predictive control of positive systems with polytope uncertainty. A parameter-dependent Lyapunov function is constructed for such systems and by employing the Lyapunov function, a new and less conservative model predictive control approach is presented. The new approach employs a linear framework in the performance index, the Lyapunov function, and the present conditions...
Event-triggered output robust control algorithm is proposed in the paper. Controller synthesis is based on the consecutive compensator method. Event-trigger mechanism is based on the high-gain state observer. Developed controller provide input-to-state practical stability of unstable linear plants under conditions of parametric uncertainties and bounded external disturbances. Computer simulation confirm...
This paper deals with the problem of robust state estimation for switched LPV continuous-time systems with measurable and unmeasurable scheduling parameters. The switching law is assumed to be uncontrollable but online available, while the unmeasurable varying parameters are assumed to be bounded with a priori known bounds. The proposed approach is based on switched interval observers which provide...
The inertia parameters information has an important role to ensure the success of the attitude control during satellite mission. However, in practical situations, the inertia of satellites can be changed due to the fuel consumption, the onboard motion and the rotation of solar arrays. And it is also difficult to be accurately determinated on ground because of the complexity of the satellite geometries...
The Paper is devoted to the design of robust PID controllers for the case of nonlinear Lipschitz systems using the gain scheduling plant model approach. The proposed method is based on an uncertain gain scheduled plant model, H2 performance (guaranteed cost) and the Bellman Lyapunov equation.
In this article, an adaptive backstepping control scheme is proposed for electromechanical systems with parametric uncertainty. The adaptive backstepping control scheme produces control signal in backstepping manner such that the system output tracks the desired reference. The closed-loop system stability is guaranteed by Lyapunov stability theory. The effectiveness of the adaptive backstepping control...
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