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In this paper, we examine and analyse the Zohdy/Harb non-linear oscillator. Lyapunov Control of Zohdy/Harb Nonlinear Oscillator is a challenge for most types of feedback controllers. This means that the main objective is to investigate the system's behavior under different conditions without the aid of the proposed controller and thereafter under the influence of the said controller. To advance the...
We propose an H∞ design for a fuzzy controller based on a sum of squares (SOS) approach to synchronize a chaotic system. The stability conditions of a chaotic system with external disturbances, which are represented in terms of SOS, are derived to reduce the effects of external disturbances. The disturbance attenuation performance is guaranteed by an H∞ criterion. The proposed conditions for the SOS...
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 presents simulation and real-time results of a fuzzy control scheme better known as parallel distributed compensation (PDC) for stabilization of an inverted pendulum on a cart. In contrast with traditional fuzzy schemes, the nonlinear model of the plant is fully taken into account for control design. The nonlinear model is recast as an exact convex sum of linear models via the sector nonlinearity...
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, we address the finite-time tracking consensus control problem for nonlinear multi-agent systems under no-cycle communication graph. Unlike most existing works of finite-time consensus, we focus on nonlinear multi-agent systems with lower triangular subsystems. Based on the local cooperative information among neighboring agents, we propose a tracking consensus protocol ensuring that...
A class of nonlinear systems with external disturbances and noise are studied, where the state of the system cannot be measured. A controller is designed by using the estimated state with an observer such that the states of the closed-loop system track the states of a given reference model, and meet a given H performance, at the same time attenuate disturbance and satisfy a guaranteed cost upper bound...
We consider the robust control design for the boost-pressure control of an exhaust-gas turbocharger of an internal combustion engine. We design a sliding-mode controller using the super-twisting algorithm. In our main contribution we present a thorough stability analysis based on two different Lyapunov functions, one for the reaching phase and one for the sliding-phase. Additionally, we consider state-constraints...
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 paper proposes a model reference adaptive sliding mode control scheme for switched linear system. The reference system is also designed as switched system. By feedback the tracking error between the switched system and the switching linear system, the plant system can track its desired dynamic responses. Also, to improve the robustness and anti-disturbance capacity, the sliding mode controller...
In this paper, the problem of adaptive tracking control is developed for a class of nonstrict-feedback switched nonlinear constrained systems. Backstepping technology combined with fuzzy logic systems (FLSs) are employed to estimate the unknown nonlinear functions of the switched constrained systems. By using the dynamic surface control (DSC) technology, the “explosion of complexity” can be reduced...
This paper propose a trajectory tracking control method for the quadrotor helicopter based on backstepping technique. To avoid the increasing complexity of analytically and improve the stability of controllers, the control system is divided into inner and outer loop, named attitude control and position control. The outer is designed as a full-driver controller and the inner is underactuated one. Although...
This paper proposes a neural network controller to achieve the tracking of a robot manipulator with a highly nonlinear structure, and presents a online adaptive control algorithm. The controller based on RBF neural network approximation is designed, and its stability and convergence is analyzed under four different circumstances. By minimizing the system error and considering the characteristic of...
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...
Path following is a fundamental problem for unmanned air vehicles (UAVs). In this paper, a Lyapunov stable path guidance law is designed to generate the course control command for a small UAV. The control parameters of the guidance law is optimized by the nonlinear model predictive control (NMPC) techinque. The relative simulations with the three different approaches: Lyapunov stable controller with...
This paper addresses the problem of output feedback tracking control for a class of stochastic high-order nonlinear systems. By using the homogeneous domination technique, an output tracking controller is designed to guarantee that the tracking error can be made arbitrarily small while all the states of the closed-loop system remain to be bounded in probability. Finally, a simulation example is provided...
This paper uses the good structure characteristics of Hamilton system to study the finite-time stability problem of nonlinear descriptor Hamiltonian system with the constant structure matrices. Firstly, the system is transformed into Hamiltonian differential-algebra system by the equivalent transformation of the system. Then, the system is changed into a strict dissipative Hamiltonian form through...
This paper proposed a novel sensor based backstepping control mthod for hypersonic vehicle with actuator compensator. The novel sensor based backstepping control method will apply the so-called “approximate dynamic inversion” to design the virtual control law for each subsystem, not just for the last subsystem. Compared with the traditional method, it does not need all of the precise aerodynamic parameters...
Lately, it has been developed many studies related to the control of uncertain systems, one reason for this studies is because it is hard to precisely describe a system, therefore the process is expressed as uncertain systems. One way to represent an uncertain system is by describing the model as a convex combination of several knownmodels. In this paper a state feedback controller is designed for...
The state feedback design with a relaxed non-monotonic Lyapunov function in the discrete-time domain is developed in this work. Linear matrix inequalities are derived from both dissipation-based constraint and dissipation inequality for the closed-loop system. The dissipation-based constraint facilitates the stabilization with ΔVk 0 and decreasing (not necessarily monotoincally), instead of ΔVk...
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