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The stabilization with a General Dissipativity Constraint (GDC) has been governed by the non-negativeness of ΔV(x, k) along the trajectories (i.e. ΔV(x, k) 0), in which ΔV(x, k) 0 is a storage function. We have stated and proved the state convergence with the GDC a previous work, but the stability has not been addressed thoroughly. In this paper, we analyze the stability that is obtained from...
A Getz-Masden dynamic system 2 (GMDS2) is investigated in this paper. For the purpose of solving time-varying complex matrix inverse, we propose a TZ-type (i.e., Taylor-Zhang type) discrete Getz-Masden dynamic system 2; i.e., the proposed TZ-type discrete Getz-Masden dynamic system 2 is discretized by Taylor-Zhang discretization formula. The results of numerical experiments not only show the efficacy...
For two-qubit systems with a degenerate measurement operator, this paper presents a control approach to achieve rapid stabilization to a target Bell state. This approach uses two control channels where the control laws associated with these two channels are designed as a constant and a switching control law, respectively. In the control scheme, the system state space is divided into two parts: the...
This paper focuses on solving the ship course tracking problem by using Zhang dynamics (ZD) method and a new Zhang finite difference (ZFD) formula. Via ZD method, which is a powerful class of dynamics to solve online time-varying problems, the so called ZD controller of ship course tracking is designed. Then, a 1-node-ahead differentiation formula within ZFD framework termed as 4-node g-square finite...
Due to the iteration-varying initial position, it is complicated in path-tracking for the mobile service robot. Perspective dynamic system (PDS) provides a theory to formulate the system, which transmits from the apparent motion to the image plane and provides a good control theoretic framework to estimate motion problem. The proposed iterative learning control (ILC) algorithms not only consider errors...
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...
A method of stability analysis of nonlinear systems using Lyapunov densities has been proposed by Rantzer: almost all trajectories of the system are guaranteed to converge to the equilibrium point if a Lyapunov density exists for the nonlinear system. However, only the convergence of trajectories is considered in the Rantzer's original result and the speed of convergence has never been taken care...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
A simple Line-Of-Sight (LOS) based trajectory tracking algorithm intended for underactuated vehicles is presented. Time parametrized trajectories in two dimensions are considered. Local exponential stability for straight trajectories and ultimate boundedness for general trajectories is shown for the guidance law error dynamics, using Lyapunov perturbation analysis. The results are verified in simulations...
The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we present our proposition of the simulation code. What differs our solution from others is the utilization of differential-algebraic equations (DAEs) during the simulation of a sliding motion...
This paper puts forward the iterative learning control (ILC) function for the existing CNC systems, aiming at the large number of actual need of single-piece repetitive processing tasks. The previous processing error is superimposed on the next processing, with use of the last processing of the control, and gradually improves the processing accuracy, thereby improving the product yield. In the iterative...
Knee exoskeletons can help injured subjects regain locomotion ability by providing external movement compensation as a robot-assisted rehabilitation technique. Tracking control of joint angle of knee exoskeletons often encounters time-dependent (time-varying) model parameter issues, which would dramatically put an influence up on dynamic behaviors. In a number of applications, inertial and viscous...
In this paper, a GZ-type complex neuronet (generated by combining gradient dynamic system and Zhang dynamic system) is illustrated and discretized into an Euler-discretized (i.e., discretized by Euler forward rule) GZ-type complex neuronet for computing real-time varying complex matrix inverse. Simulation results not only show the efficacy of the proposed Euler-discretized GZ-type neuronet but also...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
This paper proposes a Newton extremum seeking algorithm based accurate global task coordinate frame (Newton-AGTCF) for precision contouring motion control of biaxial systems under complicated free-form contouring tasks. Specifically, a cost function is defined based on the reference contour and the current position. The point on the reference contour, where the minimal value of the cost function can...
In this article, we study finite-time synchronization of complex network with unknown parameter by applying a new type of sliding form controller. On account of the theory for finite-time control, we introduce a new type of sliding form surface. We testify that the system converge to the zero point in a given finite-time. Then we propose a sliding form controller which guarantee that the sliding movement...
The convergence of PIβDα-type fractional-order iterative learning control(FOILC) is discussed for a class of fractional-order linear time-invariant system in the sense of Lp norm. First, by taking advantage of the generalized Young inequality of convolution integral, the sufficient conditions for the monotone convergence of first and second-order PIβDα-type control laws are analyzed in the sense of...
This paper studies a leader-following consensus problem of multi-agent systems with a dynamic leader. It is assumed that the leader moves along a polynomial trajectory with respect to time, while followers have first-order integral dynamics. Every follower is equipped with the positioning system and ranger finder sensor to measure its own position and the relative positions with its neighbors. The...
This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound. A fixed-time based finite time controller is proposed to guarantee that the closed-loop system gets stable in fixed time, which means the bound of the settling time is independent of the initial conditions. Moreover, the adaptive method is adopted to deal with the external...
Using a semigroup framework, this paper is concerned with existence, uniqueness and regularity of weak solutions for the stochastic wave equation driven by additive noise.
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