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This paper develops an optimization method to synthesize trajectories for use in the identification of system parameters. Using widely studied techniques to compute Fisher information based on observations of nonlinear dynamical systems, an infinite-dimensional, projection-based optimization algorithm is formulated to optimize the system trajectory using eigenvalues of the Fisher information matrix...
Parameter dependent systems are found in many complex coupled systems. When applying optimization techniques, using full order models for the solution of parameter dependent systems may simply be intractable. Therefore we investigate methods for generating reduced order models that can be applied to nonlinear parameter dependent systems. The development of these reduced order models is made possible...
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.
This paper investigates the problem of distributed formation control for perturbed and delayed MASs (Multi-Agent Systems) with multiple dynamic leaders in directed topologies. Based on the established stable theory of stochastic delay differential equations, some sufficient conditions are obtained that allow the required formations to be gained at exponentially converging speeds with probability one...
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....
This paper deals with the modeling, identification and feedforward control of hysteresis found in multi-degrees of freedom (DOF) piezoelectric actuators. One main characteristic of the considered hysteresis behavior is the strong couplings. To express such multivariable hysteresis, we propose to extend the previous Bouc-Wen hysteresis monovariable model used for 1-DOF actuators. Then we propose to...
A data-driven concurrent learning-based control law is developed for the synchronization of a leader-follower network of agents with uncertain nonlinear dynamics wherein only a subset of the follower agents is connected to the leader. The development is facilitated by the use of online data-driven adaptive update policies to approximately learn a distributed control law which satisfies a given performance...
In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists...
High-precision scan stages are used for fabrication of integrated circuits, liquid crystal displays and so on. To fabricate such precise devices, not only stages position but also stages attitude needs to be controlled rapidly and precisely. In this paper, an experimental 6-degree-of-freedom (6-DOF) high-precision stage with a novel 6-DOF air bearing called “gravity canceller” is designed and fabricated...
In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight...
In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of...
Biochemical reaction networks typically consist of a complicated structure with many interacting species and components. Techniques for the analysis of such complex systems commonly use decompositions into simpler subsystems. These decompositions are often modular, representing the state vector as a concatenation of component vectors. Without transformation, modular decompositions may lead to system...
Anticipatory anti-windup compensation involves activation of the anti-windup compensator before the physical saturation limits on the control signals are reached; the anti-windup compensator is activated in anticipation of actuator saturation occurring. Existing studies, which have used a pseudo-LPV representation for compensator synthesis, have proposed convex but somewhat complicated and opaque...
In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate effectiveness of the proposed adaptive control approach based on the high-gain principle so-called “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first...
In this paper the probabilistic characterization of a nonlinear system enforced by parametric Poissonian white noise in terms of complex fractional moments is presented. In fact the initial system driven by a parametric input could be transformed into a system with an external type of excitation through an invertible nonlinear transformation. It is shown that by using Mellin transform theorem and...
In this paper the response of a non linear half oscillator driven by α-stable white noise in terms of probability density function (PDF) is investigated. The evolution of the PDF of such a system is ruled by the so called Einstein-Smoluchowsky equation involving, in the diffusive term, the Riesz fractional derivative. The solution is obtained by the use of complex fractional moments of the PDF, calculated...
This work is mainly concerned with the fault detection and isolation (FDI) problem of nonlinear systems by using a symbolic-based linear multiple model approach. To accomplish this goal, first a novel symbolic computational method for the linearization of a nonlinear system is developed such that the obtained linear models are subjected to the symbolic fault variables. By obtaining different linear...
Full-actuation of a dynamical system really provides great potential for system control, and yet this potential is seldom utilized or even recognized. In this paper, the direct parametric approach for fully-actuated second-order nonlinear systems recently proposed is generalized to the case of fully-actuated second-order nonlinear systems in descriptor forms. It is revealed that, with this proposed...
This paper investigates the consensus control of a class of Lipchitz nonlinear multi-agent systems with communication time delay. The proposed control only uses relative state information of the system. An optimal consensus control is then identified through a careful exploitation of the structure of Laplacian matrix and semi-discretization method.
Near-controllability is a system property which is defined for those systems that are uncontrollable but own a very large controllable region. In this paper, near-controllability of a class of three-dimensional discrete-time bilinear systems where the system matrix has complex eigenvalues is studied. Sufficient conditions which are almost necessary for the systems to be nearly controllable are presented.
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