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The paper proposes a new fuzzy identification method based on H∞ error estimation for the issues of robust identification of fuzzy model. The H∞ state estimation is applied to the parameter identification of fuzzy model in the paper. The presented algorithm not only guarantees to satisfy a specified level of robustness, and also provides an optimized error upper bound. Finally, we study the fuzzy...
This paper presents a general form for the fast terminal sliding mode (FTSM). It is shown that the proposed form not only includes the conventional FTSM, but also provides new types of FTSM which can have a faster convergence rate than the conventional one. More importantly, the convergence time of the new FTSM models is bounded for any initial value, which means an upper bound of the convergence...
Aiming at a class of strict-feedback nonlinear systems with mismatched uncertainties, an adaptive backstepping fuzzy controller design is presented. By applying backstepping design strategy and online approaching uncertainties with fuzzy approximator, the control inputs and adaptive tuning rules are derived from the Lyapunov stability theory. To deal with the problem of extreme expanded operation...
This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which...
Based on observer, delay-dependent robust H∞ controller design problem for time-delay systems with a class of nonlinear uncertainties is discussed in the paper. Assuming that the nonlinear uncertain functions in the considered model are gain-bounded, we obtain a sufficient condition for the robustly asymptotic stability and H∞ performance of the closed-loop system in the light of Lyapunov stability...
A straight-line tracking controller has been designed for the non-linear and under-actuated mathematical module of ship's straight-line tracking control system based on Auto Disturbance Rejection Control (ADRC) technique. On the base of the former auto disturbance rejection control calculation, the auto disturbance rejection controller has been achieved by the combination of two control elements,...
In this paper, a robust intelligent tracking control (RITC) system employs a recurrent wavelet-based cerebellar model articulation controller (RWCMAC) is developed for uncertain nonlinear system to achieve H∞ tracking performance. The dynamic structure of RWCMAC has superior capability to the conventional static cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic...
This paper deals with the robust predictive control of nonlinear systems. The behavior of the nonlinear system is described by an uncertainty Feedforward neural networks model, i.e. each output layer's parameter is uncertain. The control problem is formulated as a minimax optimization one which is a non convex problem. The performances of the proposed controller are illustrated and compared to a classical...
This paper presents hybrid control strategy for robust trajectory tracking control for a class of uncertain nonlinear mechanical systems. The design combines adaptive fuzzy system with robust adaptive control algorithm. Adaptive fuzzy system approximates unknown nonlinear system dynamics while a robustifying adaptive control term is used to cope with uncertainties due to the presence of external disturbance,...
This paper presents the design of a robust iterative learning controller for a class of nonlinear systems with non-parametric uncertainties. The unknown nonlinearities are only required to satisfy the local Lipschitz condition. The learning controller is developed, by using both robust control and iterative learning control methods, which enables to compensate for the shortcoming when either one is...
In this paper, we propose a design method for the uncertain rotor-sliding-bearing system. Firstly, the nonlinear terms in the nonlinear model of rotor-sliding -bearing system are regarded as energy bounded disturbance. Then, based on H∞ control theory, a novel parameter design method in term of LMI (Linear Matrix Inequality) is given for the rotor-sliding-bearing system. Finally, the simulation results...
The flight control system design method of wing-in-ground effect aircraft is presented based on robust control theory. With a view to uncertainty of lengthways channels, the simplified mathematical model is constituted for wing-in-ground effect aircraft. According to this simplified model, the lengthways control system is designed. In order to overcome defect of uncertain system, the flight controller...
To the highly nonlinear, significant input-output coupling and remarkable external disturbance of near space vehicle (NSV), a dynamic inversion control method based on H∞ optimal control is proposed. This method combines the robustness of H∞ optimal control theory and nonlinear decoupled control ability of the dynamic inversion control well, so it is possible to achieve highly nonlinear decoupled...
This Paper concerns impulsive guaranteed cost control problem via state feedback for uncertain chaotic Lur'e systems. The problem we address is the design of a impulsive state feedback control law such that the closed-loop system is not only asymptotically stable but also guarantees an adequate level of performance for all admissible uncertainties. A condition for the existence of the impulsive guaranteed...
Ball and plate system is a high-order, uncertainty, nonlinear systems. Aiming at this system, a cascade control strategy with low-order active disturbance rejection controller (ADRC) is proposed in this paper. After the nonlinear system is converted into cascade system of several low-order nonlinear subsystems, the controller can be designed. This strategy solves the difficulties of structure design...
Using the known periodicity of the given trajectory, we develop a new dynamical linearization method by introducing a concept of PPD, then present a new model-free periodic adaptive control approach (MFPAC) and its extension of higher-order learning control algorithm for a class of general nonlinear and non-affine discrete-time systems. It is model-free in nature and the controller design and analysis...
An observer-based dynamic surface controller (ODSC) for a class of nonlinear system is designed. Firstly, observer is designed with quasi-one-sided Lipschitz condition to reduce conservative, then, a DSC is designed based on the state estimation. The method can enable the independent design of the observer and DSC. The global robust stable is proved and the tracking errors are bounded. Finally, a...
This paper poses and solves a new problem of consensus control where the task is to make the fixed-topology multi-agent network, with each agent described by an uncertain nonlinear system in chained form, to reach consensus in a fast finite time. Our development starts with a set of new sliding mode surfaces. It is proven that, on these sliding mode surfaces, consensus can be achieved if the communication...
A high gain observer is proposed for a class of nonlinear systems involving some uncertainties. In the absence of the uncertainties, the considered class of systems becomes a canonical form that characterizes a class of uniformly observable systems and the observation error exponentially converges to zero. In the presence of uncertainties, it is shown that the observation error can be made as small...
On the basis of singular systems, the consensus problem for networks of agents with external disturbances and model uncertainty is investigated in this paper. Systems with time delay on both fixed and switching topologies are discussed. Using singular Lyapunov functions and Riccati inequalities, some robust consensus criteria for networks of agents are established.
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