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A new approach, described as second level adaptation, was introduced in [1] for the control of unknown linear time-invariant plants using multiple identification models. If θp ∈ Rn, the unknown parameter vector of an LTI system lies in the convex hull P(t0) of (n+1) vectors θi(t0) (initial values of adaptive vectors) in parameter space, it was shown that it lies also in the convex hull of θi(t)(i...
While the use of a communication network facilitates the development of cooperative control for networked systems, it comes at a price that the systems become vulnerable to data attacks by an adversary. In this paper, we consider consensus dynamics on networked systems with strongly connected directed graphs in the presence of an additive stealthy attacker. The attacker has a linear dynamics and can...
Guidance law design of unmanned surface vessel (AUSV) design for ocean environment survey is as important as missions of autonomous vehicles and unmanned aerial vehicles (UAV). As the characteristic depicted, unmanned surface vessel is often used to sail under harsh climates to execute missions. However, there are many uncertainties on the ocean, such as wind gust, ocean current and irregular waves,...
We show that the open-loop transfer functions and the stability margins may be defined within the recent model-free control setting. Several convincing computer experiments are presented including one which studies the robustness with respect to delays.
We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the...
The question of how to establish closed-loop stability for systems involving unstable plants remains a difficult problem in control engineering. Although the notion of minimum gain and the corresponding Large Gain Theorem are designed specifically to tackle this issue, they are not yet widely used. This paper aims to facilitate the practical application of minimum gain and the Large Gain Theorem....
Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs)...
This paper considers a group of drogues whose objective is to estimate the physical parameters that determine the dynamics of ocean nonlinear internal waves. While underwater, individual drogues do not have access to absolute position information and only rely on inter-drogue measurements. Building on this data and the structure of the drogue dynamics under the flow induced by an internal wave, this...
Gradient control is a method based on potential functions to locally stabilize undirected rigid formations. However, when there is mismatch between two neighboring agents' understandings of the desired distance between them, such a potential-based control will almost for certain cause an undirected minimally rigid formation to rotate in the plane. In this paper we propose two methods to fix such a...
The Passivity Theorem is a popular input-output stability analysis tool. However, passivity violations, which are often due to sensor and actuator dynamics, may cause instabilities, necessitating the adoption of alternative stability results. This paper presents experimental results employing controllers that ensure stability via the Conic Sector Theorem. A new conic sector controller synthesis method...
It is shown that Maronna's robust M-estimator of scatter for elliptical samples behaves similar to an analytically tractable random matrix model in the limiting regime where both the population N and sample n sizes grow to infinity at the same speed. This result allows us to understand the structure of such estimators and in particular to derive their limiting eigenvalue distributions. This analysis...
Experiments that yield as much information as possible are highly valuable for estimating parameters in nonlinear dynamic processes. Techniques for model based optimal experiment design enable the design of such experiments. However, these experiments depend on the current best estimate of the parameters, which are not necessarily the true values. Consequently, in real experiments (i) the information...
A natural way of controlling linear systems feedback interconnected with memoryless nonlinearities is canceling this latter with a first feedback loop, and then designing a linear controller for the remaining linear dynamics. Nevertheless, this procedure may provide unsatisfactory performance, and even lead to instability, when the nonlinearity can not be exactly cancelled due to lack of information...
In this paper, we consider the delay-dependent robust stabilization of uncertain stochastic system with time-varying delay using Lyapunov-Krasovskii (LK) functional approach. By exploiting a candidate LK functional and using free-weighting matrices in the delay-dependent analysis, a less conservative sufficient condition for the existence of a memoryless state feedback controller. A numerical example...
With only one contact point with ground, the balance control problem of Single wheel robot (SWR) is still a big challenge for researchers. In this paper, a new nonlinear control algorithm—ADRC (active disturbance rejection control technique) was proposed. The integration simulation by ADAMS and MATLAB of flywheel balanced SWR is presented. The integrated platform provides an avenue for developing...
The manipulation of gate operators in Non-Markovian open quantum systems are studied in this paper. A Lyapunov function based on operator distance is proposed. An additional adjustable item and the time-dependent control gain in Lyapunov control laws are used to improve control accuracy. In addition, another set of control laws is designed to maintain gate operators within given accuracy as long as...
A algorithm of proposed problem of robust pole assignment of uncertain discrete systems with input time-delay is given based on the eigenstructure assignment approach in discrete time-delay systems with state feedback and the analytic parameter solution to high-order Sylvester matrix equation. First the study focuses on the solution to eigenstructure assignment of the nominal system, complete parametric...
Robust design is an effective approach to improve product quality and reduce manufacturing cost. Taguchi method, which is widely used, is a traditional method of robust design, but it can't solve the multi-response problem which often exists in engineering practice, even some responses are correlated. This paper uses principal component analysis (PCA) to eliminate the correlation among multiple responses...
In this paper, a nonlinear controller endowed with a disturbance's estimator, based on the Immersion and Invariance control technique, is proposed. This nonlinear controller is applied to the six degrees of freedom dynamics of the quadrotor helicopter to achieve regulation and trajectory tracking. The proposed estimator can reconstruct constant disturbances entering additively to the dynamic model...
In this paper, we consider robust stability and instability of an uncertain nonlinear system with an uncertainty-dependent equilibrium. In conventional approaches to the analysis, it is assumed that the location of the equilibrium in the nonlinear system is not shifted by the uncertainty and then the robustness is discussed. However, the assumption does not hold for general nonlinear systems. We consider...
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