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A new general scheme for robust model reference adaptive controller (MRAC) is proposed for single variable nonlinear plants and can be applied without any modifications to single variable nonlinear plants, both time-invariant and time varying in nature. The proposed robust MRAC is based on the estimation of the difference between the linear time-invariant model plant parameters and actual plant parameters...
In this paper, a nonlinear dynamic inversion control law is presented for unpowered flying vehicle firstly, meanwhile inertia uncertainty and aerodynamic moment uncertainty are taken into consideration. Compared with previous presentation, this paper proposes a direct control strategy, which doesn't base on time separation assumption. The vehicle model is a nonlinear and time-varying system, the illustration...
This paper investigates the disturbance rejection problem of nonlinear MAGnetic LEViation (MAGLEV) suspension system with “mismatching” disturbances. Here “mismatching” refers to the disturbances that enter the system via different channel to the control input. The disturbance referring in this paper is mainly on load variation and unmodeled nonlinear dynamics. By linearizing the nonlinear MAGLEV...
In this paper, an observer-based fault detection approach for a class of nonlinear systems is presented, which can be modeled by Takagi-Sugeno (TS) fuzzy models. We propose a sliding mode fuzzy observer that deals with bounded uncertainties in the plant and allows fault estimation based on an equivalent output error injection approach. Furthermore an adaption scheme based on pattern recognition algorithms...
In this paper, a fast terminal sliding mode control with fuzzy disturbance observer scheme is proposed. In the scheme, a novel adaptive law for fuzzy disturbance observer is presented, which has faster convergence than the conventional one. Combining the fast terminal mode and the novel fuzzy disturbance observer, the proposed new scheme is not only suitable for uncertainty nonlinear system, but also...
Fault-tolerant control problem for uncertain non-linear singular systems is studied. In terms of Lyapunov-Krasovskii functional approach, a new fault-tolerant control criteria is proposed, and the sufficient condition for the existence of fault-tolerant controller is derived by the form of the linear matrix inequality(LMI) approach. Finally, a numerical example and simulation diagram are provided...
Sliding mode methods have been historically studied because of their strong robustness properties to a certain class of uncertainty. This is achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault...
A passive adaptive control problem is studied for a class of multi-input multi-output(MIMO) nonlinear systems with unknown parametric uncertainties. The design methods of passive adaptive controllers for the class of systems are discussed respectively when unknown constant parametric matrixes of control input are positive definite and general matrixes. The passive adaptive controllers and parameter...
Applying mathematics model of nonlinear ship main engine control and the wave disturbances to the design of electronic governor, and considering the uncertainty of model parameters and the characteristics of servo-system makes the model have the unmatched uncertainty correspondingly. In order to solve the difficulty, an active disturbance rejection nonlinear control strategy is proposed, and the fuzzy...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
This paper is concerned with the robust stability criteria for a class of neutral systems with interval time-varying delay and nonlinear uncertainties. Based on Lyapunov method and an integral inequality, novel delay-dependent criteria are obtained in terms of linear matrix inequality (LMI). The model transformation and free-weighting matrices are avoided, such that the resulting criteria involve...
Nowadays simple and executable controllers that can control many complex processes are more popular, remarkable and justifiable. Studying and designing such controllers for inverted pendulum system is a prominent way to prove the controllers performance. Inverted pendulum system is a classic system in most control laboratories. The system structure, totally, consists of a cart and a pendulum hinged...
This paper presents the application of a two-degree-of-freedom (2DOF) control of an electrodynamic shaker. The characteristics of a shaking system are considered to be nonlinear and variable because of the influence of the test piece. In order to compensation for this problem, the influence of the disturbance force needs to be suppressed. The controller is designed using μ-synthesis by considering...
Parameter adaptation and disturbance observer (DOB) have been considered as two contrastively different approaches in motion control problems. In our previous work [1], the two techniques were merged into one control design with theoretically guaranteed performance. A drawback of the method is that the controller has to be relatively complicated due to interference between the two mechanisms. In this...
In Model Predictive Control, the quality of control is highly dependent upon the model of the system under control. Therefore, a precise deterministic model is desirable. However, in real-world applications, modeling accuracy is typically limited and systems are generally affected by disturbances. Hence, it is important to systematically consider these uncertainties and to model them correctly. In...
In this paper, a robust control design strategy is introduced to synchronize two different chaotic systems. The controller is based on particle swarm optimization (PSO). Particle swarm optimization is a well-known evolutionary optimization algorithm inspired by organism behavior of birds flocking and fish schooling. Our control approach is based on defining a suitable cost function in such a way that...
In this paper, we discuss robust optimal control techniques for dynamic systems which are affine in the uncertainty. Here, the uncertainty is assumed to be time-dependent but bounded by an L-infinity norm. We are interested in finding a tight upper bound for the worst case excitation of the inequality state constraints requiring to solve a parameterized lower-level maximization problem. In this paper,...
For a class of multi input and multi output nonlinear uncertain systems with input coupling term, a robust feedback linearization method combined with a minimax linear quadratic regulator (LQR) control is proposed. The uncertainties in the system and the presence of input terms in the low order derivatives of the outputs due to the input coupling makes the feedback linearization a challenging task...
A novel, diamond-shaped type-2 fuzzy member- ship function is introduced in this study. The proposed type-2 fuzzy membership function has certain values on 0 and 1, but it has some uncertainties for the other membership values. It has been shown that the type-2 fuzzy system using this type of membership function introduced in this study has some noise reduction property in the presence of noisy inputs...
A nonlinear controller is designed for a L2 formation flying control system, and robust stability is investigated for the closed-loop system with uncertainties. The L2 formation flying is modeled as a second-order quasi-linear parameter-varying model, which is obtain from the nonlinear formation flying model with Barbashin method by including explicit dependence of the dynamic derivatives on states...
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