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Electromagnetically actuated microparticles can be widely applied in the field of biomedicine, for its advantages of minimally invasive feature and approachability to complex microenvironments. In this paper, we propose a robust feedback control approach for precise 3D manipulation of a microparticle actuated by a self-constructed electromagnetic coil system. Model uncertainties, environmental disturbances...
In this paper, a model-based event-triggered control law is adopted to reduce communication traffic in networked control systems. In this model-based control system, a nominal model of system plant is used to estimate the system state between two sampling instants. By simultaneously considering bounded system noise and bounded network delay, a mixed event-triggering mechanism is proposed to stabilize...
A concurrent learning based adaptive observer is developed in this paper for a class of second-order linear time-invariant systems with uncertain system matrices. The developed technique yields an exponentially convergent state estimator and an exponentially convergent parameter estimator. As opposed to persistent excitation required for parameter convergence in traditional adaptive methods, excitation...
This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics,...
This paper proposes an output-feedback control approach for sampled-data MIMO systems with nonlinear uncertainties. Design and analysis of ℒ1 adaptive controllers are extended to sampled-data systems framework. The controller is designed for disturbance and uncertainty compensation. In this paper, a sufficient condition on the sampling time of the digital controller is obtained that ensures stability...
In this paper, we consider finite-time connectivity preserving coordination problems for second-order multi-agent systems with disturbances and limited sensing range. Based on integral sliding mode control and artificial potential field, a distributed controller is developed to achieve robust finite-time consensus and meanwhile maintain the connectivity of the communication network. An integral sliding...
In this work, we investigated the sliding mode control (SMC) for uncertain systems with both state and input varying delays. In most existing SMC, a common input and delayed input matrix are considered to apply the conventional method, which is very restrictive assumption. Therefore, we proposed a new sliding surface which takes account of the system state and the control input in order to remove...
Recently, we systematically investigated short-term memory of an echo state network fed with a scalar random input, using computational simulations. We studied the effect of proper reservoir initialization and its subsequent orthogonalization, using two similar gradient descent iterative procedures. It was shown that the measure defined by Jaeger as memory capacity (MC) approached its theoretical...
This paper present results of on-line control loop performance assessment using non-Gaussian statistical and fractal measures. Research shows importance of loop quality indexes that are not biased with Gaussian assumption about signal characteristics. Industrial data show frequent fat-tail properties and thus relevant indexes are proposed, like non-Gaussian statistical factors or persistence fractal...
This paper proposes a disturbance observer (DOB) design procedure for general multi-input-multi-output (MIMO) systems based on the H-infinity synthesis. The DOB is designed by minimizing the H-infinity norm of the dynamic system from the disturbance to its estimation error. The design procedure does not require an explicit plant inverse. The proposed DOB is applied to a dual-stage hard disk drive...
A systematic design method for robust state and unknown input estimation using sliding mode observers is proposed for a class of nonlinear systems with bounded unknown inputs. The considered nonlinearities satisfy a set of matrix inequalities known as incremental quadratic constraints. The proposed observer is constructed by solving a set of linear matrix inequalities guaranteeing global ℒ∞ stability...
A partial differential equation (PDE) based controller is developed for a nonlinear system with bounded external disturbances and unknown time-varying input delay. Motivated by predictor-based delay compensation methods, a linear transformation is used to map the time-varying input to a control input which varies both in time and space. This technique separates the delay magnitude and derivative terms,...
This work defines and quantifies a measure of robustness for vehicular networks with arbitrary physical arrangements and communication structures. The measure quantifies the minimum disturbance energy that is required to cause a collision between any two vehicles in terms of the ℒ2-norm of disturbances distributed throughout the network. The minimum disturbance size that can cause a collision is then...
Model Predictive Control (MPC) is an advanced strategy for the control of multi-variable and constrained dynamical systems. Tube-based MPC is a robust control technique that handles uncertainties present in the model. Since full state information is seldom available in practical systems, the estimation error must also be taken into account in addition to model uncertainties to achieve closed-loop...
Prior to be implemented in aircraft flight control system, Higher Order Sliding Mode (HOSM) controllers must be certified for robustness to unmodeled dynamics. There exist certain standards imposed on Phase Margin (PM) and Gain Margin (GM) for linear controller to be certified for controlling aircrafts. In this work, the conventional control system certification approach based on PM and GM is extended...
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of...
In this work, well known Sigma Point Kalman Filters (SPKFs); namely Unscented Kalman filter (UKF), the Cubature Kalman filter (CKF), and the Central Differences Kalman filter (CDKF) will be combined to the Smooth Variable Structure Filter (SVSF), in order to create stable and robust algorithms that can be applied to highly non-linear systems. The proposed algorithms will be applied into 4-DOF robotic...
The stability of the observer is an important concern for observer based sensorless control. This paper presents the stability analysis of observer used for high speed position sensorless control of surface permanent magnet synchronous motor (SPMSM). In this paper, extended induced voltage observer is utilized for high speed senseless control of SPMSM. The purpose of this study is to analyse the stability...
The paper presents a robust algorithm for detecting of features, the effectiveness of the robust detector of bright and dark features analyzed in the processing of natural scene images. Images in computer vision systems are often exposed to noise, such action causes detector performance degradation and increases of rate false alarms. Research shows that the effectiveness of the features detection...
Robustness analysis method is proposed for rotorcraft pilot coupling with helicopter flight control system in loop. Combining with the lateral identification model of BO-105 helicopter, McRuer's pilot model, and the designed stability augmentation system, frequency domain model is established for rotorcraft pilot coupling analysis. μ analysis method and performance specifications in ADS-33E are adopted...
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