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This paper investigates the periodic disturbance rejection control of time-delay process by integrating a modified disturbance observer (MDOB) and internal model control (IMC) structure. A modified disturbance observer design method based on zero-pole placement is proposed. By the MDOB, periodic disturbance can be accurately estimated and the estimation is used as compensation to suppress disturbance...
This thesis studies the tracking control problem of hypersonic vehicle subject to model parameter uncertainties, external disturbance and input saturation. Firstly, the feedback linearization for longitudinal model of hypersonic vehicle is reasonably decomposed into subsystems that include velocity and altitude subsystem. Secondly, the auxiliary system is introduced to design the anti-saturation adaptive...
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) transportation systems. The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously. Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method,...
This paper deals with the robust control problem for linear systems with both gain and time constants variations under fractional order PIλDμ controller. A robustness specification to the parameters variations is proposed. For those systems with more than one uncertain time constant, the robustness specifications are analyzed and simplified. To minimize the phase offset nearby the crossover frequency,...
In this paper, a neurodynamic optimization approach is proposed for robust pole assignment of fractional-order control systems. Compared with integral-order systems, the pole assignment of fractional-order systems is more challenging due to variability of stability region. The robust pole assignment is formulated as a constrained optimization problem, and a robustness measure is derived as a pseudoconvex...
For the non-integer order process with time-delay, a design and tuning method of two-degree-of-freedom fractional order internal model controller is proposed. This method can over the disadvantages of single-degree-of-freedom PID controller that can not achieve the best performance of the command tracking characteristic and disturbance rejection characteristic at the same time. The time-delay term...
This paper is concerned with the robust normalization and stochastic stabilizing problem for singular Markovian jump systems with norm-bounded parameter uncertainties and time delay. A novel proportional-derivative controller with memory is designed. Sufficient conditions are derived to ensure that the closed-loop system is not only robust normal, but also stochastically stable. In addition, the explicit...
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results...
This paper studies an event-triggered control problem for nonlinear systems in the presence of external disturbances. To avoid infinitely fast sampling caused by disturbances, a new event-triggering mechanism is proposed, which depends not only on the system state but also on an estimation of the influence of the external disturbance. Moreover, the closed-loop event-triggered system is proved to be...
This paper studies the problem of robust H∞ control for uncertain stochastic system with time-varying delay. The time delay is assumed to be of interval type. By constructing a new stochastic Lyapunov-Krasovskii functional, Ito's formula and introducing free weighting matrix, sufficient conditions for delay-dependent robust H∞ control is obtained. The presented formulation is in the framework of linear...
Event-triggered output robust control algorithm is proposed in the paper. Controller synthesis is based on the consecutive compensator method. Event-trigger mechanism is based on the high-gain state observer. Developed controller provide input-to-state practical stability of unstable linear plants under conditions of parametric uncertainties and bounded external disturbances. Computer simulation confirm...
This paper investigates the fragility (both from the stability and performance point of view) of (optimally tuned) fractional-order P(I)D controllers applied to integral processes. Indeed, the effects of the variations of the controller parameters are investigated in order to understand if the fine tuning of the controller is a critical issue. Both the set-point response and the load disturbance rejection...
In most cases, additive noise and disturbances in close-loop feedback controllers are being transferred to system output. This paper tries to solve the above problem by proposing the development of an artificial neural network controller for circumstances where noise robustness is a crucial matter. The latter has many applications in diverse areas where it is important to keep accurately track of...
This paper describes an experimental applied study on advanced quadcopter control. A special setup is used to conduct a series of experiments of roll and pitch motion control. Three robust output controllers are verified. One of the controllers is the consecutive compensator, the remaining two are its modifications aimed to increase precision and reduce overshoot. Experiment specifications and comparative...
This paper deals with Fractional Complex Order Controller FCOC tuning. The paper presents new structure of FCOC with the form PIx+iyD, in which x and y are the real and imaginary parts of the integral complex order, respectively. With the controller's five parameters, we can fulfil five design requirements. Design specifications are set to ensure robustness toward gain variations, noise on system...
The goal of this paper is to present a software tool intended to aid at the design of 2DoF PI/PID controllers by using the Model REference Robust Tuning (MoReRT) approach. This tool is suitable for those who need to design the PID controller for the simple closed-loop feedback in an effective and user-friendly way. The tool has been implemented in MATLAB<®/SIMULINK<®. and has been designed on...
The possibilities of automatic control systems with PI2D-controller are discussed in this paper. It was proposed the procedure for the calculation of its parameters based on a modal approach. Comparative analysis of the system with PI2D-controller using numerical simulation in Matlab was carried out. The effect of the non-stationary object parameters and external disturbances was examined.
This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance...
The Paper is devoted to the design of robust PID controllers for the case of nonlinear Lipschitz systems using the gain scheduling plant model approach. The proposed method is based on an uncertain gain scheduled plant model, H2 performance (guaranteed cost) and the Bellman Lyapunov equation.
In the paper, a novel robust controller design method is developed for discrete-time parameter varying system using matrix inequalities. Auxiliary matrices are used to reduce conservatism of the proposed robust stability conditions. The resulting design method is illustrated on examples.
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