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A model-based control design method is developed for nonlinear reactive sputter processes that can be modelled by a nonlinear ordinary differential equation with linear input and stable and unstable equilibrium states. The controller shall robustly stabilize the unstable working points. Lyapunov's direct method is used to formulate stability conditions that respect possible uncertainties in the process...
In order to improve the speed-regulation performance of the permanent-magnet synchronous motor (PMSM) system under uncertainties and disturbances, an equivalent disturbance observer (EDO) based discrete-time integral sliding mode control (DISMC) scheme is proposed. To avoid the high-frequency noise caused by the differential terms of conventional sliding mode control (SMC), a discrete-time integral...
This paper presents a controller design methodology for linear dynamic systems with interval parameters. In order to overcome the conservatism of classical Interval Analysis methods applied to this class of uncertain systems, the paper proposes a solution for the problem of multi-incidences of model parameters when the controller design is based on interval Diophantine equations. The paper includes...
The paper is devoted to the problem of a Takagi-Sugeno(TS)-based robust simultaneous actuator and sensor faults estimator design for the purpose of the Fault Diagnosis (FD) of non-linear systems. The proposed methodology of designing a TS-based H∞ fault estimator is developed in this paper. The main novelty of the approach is associated with possibly of simultaneous sensor and actuator faults estimation...
The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic...
The Chemical Master Equation (CME) is used to stochastically model biochemical reaction networks, under the Markovian assumption. The low-order statistical moments induced by the CME are often the key quantities that one is interested in. However, in most cases, the moments equation is not closed; in the sense that the first n moments depend on the higher order moments, for any positive integer n...
Semi-symbolic simulation is becoming popular for inclusion of parameter uncertainties in the system design analysis. For robust control system design optimization, computational methods enabling fast semi-symbolic simulations are necessary. We propose an operational computation method based on orthogonal signals that is faster than step integration methods and allows the direct evaluation of system...
Control algorithms are essential in multirotor aerial platforms and remain a trending research topic. This paper presents the development process of different cascade controllers for multirotor UAVs. Two main usage areas of this method are described — the control of position and attitude. Based on the literature and experience from previous research, structures of mentioned algorithms are proposed...
Both state propagation and sensor measurements are often corrupted by unmodeled non-Gaussian or heavy-tailed noise. Without dealing with such outliers, the accuracy of a estimator significantly degrades, and control systems that rely on high-quality estimation lose stability. To estimate the states of dynamic systems in which both types of outliers occur, we propose a novel approach that combines...
In this paper, we propose torque-modulated backstepping control for uniform tracking errors in the vertical motion of two-dimensional electromagnetic scanners using only output measurement. Due to manufacturing tolerance, there are parameter uncertainties of two-dimensional electromagnetic scanners so that it is not easy to obtain uniform tracking error performance for the motion control of scanners...
Gaussian Processes (GPs) are state-of-the-art tools for regression. Inference of GP hyperparameters is typically done by maximizing the marginal log-likelihood (ML). If the data truly follows the GP model, using the ML approach is optimal and computationally efficient. Unfortunately very often this is not case and suboptimal results are obtained in terms of prediction error. Alternative procedures...
The study in this article focuses on chattering free higher order sliding mode control (HOSMC) and continuous time event triggered higher order sliding mode control (ET-HOSMC) for nonlinear uncertain systems. Conventional sliding mode control is affected by high-frequency oscillation in the control signal known as chattering. Chattering in the control signal overshadows the main advantages of sliding...
This paper presents a robust predictive current (RPC) control method for permanent magnet synchronous motor (PMSM). The RPC controller adopts an incremental model, thus the influence of rotor flux can be omitted. This is the main contribution of RPC controller. Moreover, an inductance observer based on Lyapunov stability theorem is adopted to enhance inductance robustness against stator inductance...
For low hitting precision, bad robustness and high normal acceleration of traditional torpedo guidance law, the paper designed anti-torpedo torpedo(ATT) guidance law based on variable structure control. State equation of line of sight angle between ATT and target can be achieved from mathematical model of moving relation between ATT and target torpedo, and designed a variable structure controller...
We study the problem of sequential binary hypothesis testing in a distributed multi-sensor network in non-Gaussian noise. To this end, we develop three robust extensions of the Consensus+Innovations Sequential Probability Ratio Test (CISPRT), namely, the Median-CISPRT, the M-CISPRT, and the Myriad-CISPRT, and validate their performance in a shift-in-mean as well as a change-in-variance test. Simulations...
By using the vector control for direct-drive permanent magnet synchronous motor (DD-PMSM), the current static decoupling between d-axis and q-axis is realized, however, there still exists the dynamic coupling relationship. The d-q currents cannot be decoupled by the tradition PI method, and although the decoupling is accomplished to some extent by the internal model decoupling control method, the...
In this paper, the fractional order PID (FOPID) control scheme of a 3-axis motion platform is proposed. Firstly, a mathematical model of the 3-axis motion platform is derived, then a control law is developed to track the angular position. Tuned FOPID controller is compared with classic PID controller (IOPID). The simulation results are provided to verify the efficiency and correctness of the proposed...
This paper presents the speed tracking control of unicycle type mobile robot in the presence of environmental disturbances and model uncertainties. In order to solve tracking issues, a Linear Active Disturbance Rejection Control (LADRC) based control is proposed here. the forces and voltages of the motors acting on the two wheels are considered in the dynamic model of the robot. The proposed control...
Three-degree-of-freedom trajectory tracking of the stratospheric airship is investigated. With a simplified planar dynamic model, an adaptive backstepping sliding mode controller is designed to keep the airship to globally asymptotically track a desired trajectory. Lyapunov functions are used to ensure the tracking performance when model parametric uncertainty and external disturbances exist. Simulation...
Ellipse fitting is widely used in computer vision and pattern recognition algorithms such as object segmentation and pupil/eye tracking. Generally, ellipse fitting is finding the best ellipse parameters that can be fitted on a set of data points, which are usually noisy and contain outliers. The algorithms of fitting the best ellipse should be both suitable for real-time applications and robust against...
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