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In this paper, we present a robust pole placement control scheme that can be used to control a wide class of linear and time invariant systems with unknown parameters, including nonminimum phase systems, using only plant input and output signals. We assume that the unknown plant parameters has known bounds, i.e., the control scheme is designed for an interval plant whose coefficients are closed intervals...
Most of the times Wireless Sensor Networks (WSNs) operate in hostile and unattended network environments, which makes the nodes vulnerable to node misbehaviour attacks. The applicability of conventional security methods, such as authentication, encryption and cryptography, to counter node misbehaviour attacks is debatable due to their incapability and involved cost. Trust aware secure mechanisms provide...
To solve the ascent guidance of reusable launch vehicle (RLV) under the uncertain condition, a robust guidance method based on combing feedback linearization and H-infinity optimization theory is proposed. The article establishes the RLV ascending dynamic models. According to the characteristics of the ascending flight, the height deviation is converted into a linear relationship with pitch angle...
Nonlinear dynamic inversion (NDI) has been applied to the control law design of UAVs for many years mainly due to its good robustness. However, it has a weakness of relying on accurate model of the plant greatly, which restrains its application since UAVs are easy to be influenced by persistent disturbances such as model uncertainties, winds and gusts; thus, development of accurate model for attitude...
Recently, kernelized correlation Filter-based trackers have aroused the interest of many researchers and achieved good results in the field of tracking. However, the current tracking model based on kernelized correlation filters can not deal with the changes of the target appearance and scale effectively. Therefore, in this paper, we intend to solve these two problems and improve the robustness of...
This paper develops a hierarchical sliding-mode controller (HSMC) to simultaneously accomplish velocity control and balancing control for a two-wheeled self-balancing vehicle (TWSBV). Based on the derived TWSBV model, two first-level sliding surfaces, relevant to velocity and position of TWSBV and tilt angle and tilt angular velocity of TWSBV respectively, and a second-level sliding surface, are defined...
In this paper, the problem of adaptive fixed-time 6 degree-of-freedom (DOF) tracking control for spacecraft non-cooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface (MFSMS) is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions...
It has long been recognized that robustness is an inherent property of all biological systems. For instance, microbes could maintain their intracellular environment in a relative stable level against the changes in the extracellular environment. We study such a phenomenon in the glycerol production by microbial continuous fermentation, in which the metabolism mechanisms are not completely known and...
Constant-Power Load (CPL) introduces destabilizing effect to dc-dc converters, which may lead to voltage oscillation or collapse. To mitigate the destabilizing problem brought by CPL, a nonlinear boundary controller is proposed in this paper, which has a nonlinear switching line. The converters' dynamics on the state space plane is analyzed through phase portrait. The proposed controller is verified...
This paper proposes a robust chattering-free sliding-mode (CFSM) control for an electronic throttle (ET) system in drive-by-wire vehicles. Although boundary layer method is used in traditional linear sliding-mode based-electronic throttle control systems to remove control chattering, both the tracking precision and control robustness are affected. The uniqueness of the proposed CFSM controller is...
Compared with the traditional front-wheel-steering (FWS) vehicles, four-wheel-independent-steering (4WIS) vehicles have better handling stability and path-tracking performance. In this paper, a novel 4WIS electric vehicle (EV) is proposed and it is viewed as a controlled object for path tracking. The nonlinear dynamical model of the 4WIS EV is built based on the nonlinear Dugoff tire model. For controller...
We propose bias-compensated algorithms based on the RZA-LMS algorithm and diffusion RZA-LMS algorithm. Our proposed algorithms improve the accuracy of estimation under the situation that input of the adaptive filter contains noise. Estimation methods of the input noise' variance are given for implementing our single-node and diffusion bias-compensated algorithms. Simulation results show that the proposed...
For a novel conveying mechanism which is highly nonlinear, highly time-varying and highly coupled, a synchronized sliding mode control with nonlinear disturbance observer is proposed to improve the synchronization performance and the disturbance-rejection performance. First, the kinematic analysis of the conveying mechanism is completed and the dynamic model with lumped disturbances of the conveying...
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles (UAVs) application with limited actuation. Following the inner (control) and outer (guidance) loop structure, the proposed guidance scheme...
A nonlinear passive robust filtering method is described in this article to solve filtering and state estimation problems of ship dynamic positioning system (DPS) in slowly varying sea state. By augmenting a new state and utilizing acceleration feedback technology, the observer proposed in this paper will improve disturbance attenuation performance. The global stability and passivity of the observer...
In this paper, a feed-forward disturbance compensation model predictive control (MPC) method is proposed for rudder roll stabilization (RRS). Rudder roll stabilization is an underactuated problem with actuator saturation, the roll and heading of ship will be controlled by the rudder with limited rudder angle and rudder rate. MPC deals with the underactuated and constrained problem elegantly by means...
For the strict-feedback systems with disturbances, a novel robust control is proposed based on dissipation theory in this article. By combining the techniques of feedback linearization and feedback domination, the nonlinear controller is constructed step by step, where the notions of supply rate and storage function are embedded. The gotten robust controller makes the closed-loop system finite-gain...
Model inaccuracies or parameter uncertainties are unavoidable in the practical control systems, while the uncertain properties could be modeled and estimated by the grey system. Among many grey models, fractional grey model is recently proposed and popularly used in many model analysis and prediction problems. In this paper, the structure uncertainties and external disturbances are considered using...
Based on approximate least absolute deviation criterion and Newton's search principle, a full coupled identification algorithm is proposed for multivariable system whose model parameters are fully coupled. To solve the non-differentiable problem of the least absolute deviation, an approximate least absolute deviation objective function is established by introducing a deterministic differentiable function...
In this paper, we consider robust stability analysis of a networked system with uncertain communication delays. Each subsystem of these systems can have different dynamics, and interconnections among the subsystems are arbitrary. It is assumed that there exists an uncertain but constant delay in each communication channel. Based on the integral quadratic constraint (IQC) framework, a sufficient robust...
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