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In this paper, we advance a nonlinear control design concept based on backstepping, adjusted so that it might be used for a wider class of dynamical systems than the so-called strict-feedback form. Possible applications concern magnetic levitation systems, one of which will be used, in this paper, to design the proposed controller. Theoretical aspects regarding feasibility, stability and optimality...
In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the...
Output tracking control of non-minimumphase or critically minimumphase systems is a highly challenging problem encountered in the control of flexible manipulators, space structures and elsewhere. In this paper, a class of nonlinear multi input-multi output non-minimumphase or critically minimumphase cascade systems have been considered. By defining the tracking error, the tracking problem is reduced...
This document presents the design of a hierarchical control to regulate the oxygen excess ratio of a fuel cell. The master controller calculates the necessary air flow to stabilize the oxygen excess ratio at a fixed set point. A nonlinear model based predictive controller (NMPC) using a Volterra series model is used as a master controller. The slave controller, a nonlinear PI, uses the reference of...
This paper studies the problem of reliable Hinfin state feedback controller design for linear continuous-time systems. Actuator partial failures and actuator lock-in-place failures are simultaneously considered, and the signals in the case of certain actuators being locked in place are treated as zero-frequency disturbances, which gives an exact description for the lock-in- place failures. Based on...
It is well-known that tracking and regulation control objectives can be achieved independently. This paper focuses on the synthesis of the feedforward part of a two-degree-of-freedom LPV/LFT controller. Here, the feedforward filter synthesis, which includes a constraint on the control signal, is cast as an L2 full-information minimization problem. The effectiveness of the proposed approach is demonstrated...
Observer based tracking control for switched linear systems with time-delay is investigated in this paper. Sufficient condition for the solvability of the tracking control problem is given for the case that the state of system is not available. The design of a switching control law based on measured output instead of the state information is considered. Lyapunov-Krasovskii functional method is utilized...
This paper considers the tracking control of a nonaffine system. A performance-dependent self-organizing approximation approach is proposed. The designer specifies a positive tracking error criteria. The self-organizing approximation based controller then monitors the tracking performance and adds basis elements only as needed to achieve the tracking specification.
Flatness based tracking controllers (see e.g. (M. Fliess et al., 1995), (P. Martin et al., 1997), (J. Levine, 1999), (H. Sira-Ramirez and S.K. Agrawal, 2004)) are a very important tool for nonlinear controller design. Such tracking controllers achieve an exact linearization of the tracking error dynamics. In (V. Hagenmeyer and E. Delaleau, 2003) a different flatness based tracking controller has been...
We consider a fixed control law on a well- known underactuated dynamics, the cart-and-pendulum system. The contributory aspect of this research which is different from the traditional treatment is that, the feedback line is affected by multiple independent time delays. It is known that time-delayed LTI systems may exhibit multiple stable operating zones (pockets) in the space of delays. But finding...
The paper introduces a theoretical foundation of the perturbed feedback linearization methodology for realization of linear spacecraft attitude deviation dynamics. The approach is based on nonuniqueness representation of under- determined linear algebraic equations solution via nullspace parametrization. A prescribed stable linear second order time-invariant ordinary differential equation in a spacecraft...
In this paper we consider the robust iterative learning control (ILC) design problem for SISO discrete-time linear plants subject to unknown, bounded disturbances. Using the supervector formulation of ILC, we apply a Youla parameterization to pose a MIMO l1-optimal control problem. The problem is analyzed for three situations: (1) the case of arbitrary ILC controllers that use current iteration tracking...
This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests...
This paper presents the design of tracking controllers for piecewise linear systems, with application to sheet control in a printer paper path. The approach that we will take is based upon an error space approach, which is derived from linear systems theory. We will show that due to the discontinuity in the piecewise linear system, the resulting model in error space consists of both flow conditions,...
A new tracking filtering algorithm for a class of multivariate dynamic stochastic systems is presented. The system is represented by a set of time-varying discrete systems with non-Gaussian stochastic input and nonlinear output. New concept such as hybrid characteristic functions is introduced to describe the stochastic nature of the dynamic conditional estimation errors, where the key idea is to...
Robust tracking control for switched linear systems with time-varying delays is investigated in this paper. Sufficient conditions for the solvability of robust tracking control problem are developed. Average dwell time approach and piecewise Lyapunov functional methods are utilized to the stability analysis and controller design, and with free weighting matrix scheme, switching control laws are obtained...
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