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We study the problem of quantized consensus where some agents are subject to faults and attacks and might make updates arbitrarily. The network consists of integer-valued agents under directed communication links. The misbehaving agents are assumed to be omniscient and may try to prevent the normal agents to reach consensus. We show that consensus can be achieved among the normal agents via a simple...
In this paper, we study networked control systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. The control objective is to maximize frequency and duration of the DoS attacks under which closed-loop stability is not destroyed. Analog and digital predictor-based controllers with state resetting are proposed, which achieve...
This paper presents a novel approach to incorporating soft constraints into the robust MPC design in the LMI framework. As soft constraints are frequently used in industrial applications, using the proposed approach leads to improved control performance and enables implementing the robust MPC for more complex control problems. The main advantage of the strategy is preserved structure of the optimization...
A new method is introduced for controlling chaos in continuous systems, and stabilizing one of the unstable periodic orbits embedded in the chaotic attractor. The stabilization of the orbit is obtained by applying a discontinuous perturbation to one parameter of the system in a neighborhood of the orbit. The analysis is carried out by means of Poincare surfaces, which makes possible to develop the...
This paper presents a novel control method for realizing consistent emission reduction performance of automotive selective catalytic reduction (SCR) systems under variant aging conditions. SCR systems have been widely recognized as one of the leading aftertreatment systems for reducing Diesel powertrain tailpipe NOx emissions in ground vehicle applications. While fresh SCRs are quite effective in...
LPV models are extremely appealing, as they allow describing the dynamics of many physical systems that are of interest in various engineering applications. For such systems, dedicated control approaches have been proposed, which rely on the measurement of the scheduling variables and exploit such information for improving the closed-loop performance with respect to fixed-structure, possibly robust,...
The linear motion of the Corner Cube Mechanism developed for the infrared sounder of the third generations of Meteosat weather satellites requires a high level of accuracy. The system is subject to external micro-vibration perturbations from surrounding instruments, which cannot be rejected with the current PID controllers with notch filters. A data-driven H∞ robust controller design method is proposed...
A new approach for detecting replay attacks on cyber-physical systems is presented in this paper. The diagnosis system under a replay attack will not trigger an alarm as long as the received sensor readings are plausible. Since an adversary is not able to react on system changes due to the simplicity of the attack and a lack of system knowledge, our goal is to excite the system in non-regular time...
Quadrotor systems involve nonlinearity, coupling, and uncertainties such as parameter uncertainties, external disturbances, and state and input time delays. This paper proposes a robust attitude stabilization controller design method. The proposed controller includes a nominal controller for the uncertain and delay free model, and a robust compensator to restrain the effects of uncertainties and delays...
Electromagnetic gun loading control system is based on the core chip of STM32F103VET6, and the measurement system based on LABVIEW. Displacement sensor and pressure sensor of signals are collected and transmitted via two USB to PC, it can be observed in real time online, at the same time, people can control the movement of the push rod status by PC to send commands. STM32 chip has low power consumption...
Existing power and rate control methods for wireless networks did not consider channel nonlinearity. This paper presents a power and rate controller for wireless networks with nonlinear channel fading. The controller is designed based on robust approach, and the performance is analyzed via linear matrix inequality (LMI). Simulation results illustrate the effectiveness of the proposed controller.
This paper proposes a continuous adaptive terminal sliding-mode control for nonlinear systems. The new terminal sliding-mode manifold can enable the elimination of the singularity problem associated with conventional terminal sliding-mode control. Two different schemes for continuous terminal sliding-mode controller design are utilized for the control of nonlinear systems. The global continuous terminal...
This paper proposes a dual-loop control strategy using a robust controller for the emerging planar switched reluctance motor (PSRM) to achieve precise positioning. The mechanical structure and transfer functions with known parameters obtained via a forgetting factor recursive least-squares algorithm of the PSRM are first presented. Then, the description of the control strategy, the depiction of the...
In this paper, the problem of altitude and attitude control for a quadrotor with model parametric uncertainties and external disturbance is studied. In order to improve system robustness and dynamic response, a novel linear active disturbance rejection sliding mode controller is designed. The basic idea is to estimate the uncertainties and disturbance by the extended state observer, and then introduce...
This paper proposes an active disturbance rejection control (ADRC) with a delay time part to control the superheat and evaporator temperature of refrigeration systems. This approach uses static decoupling to realize decoupling control. In order to improve the performance of static decoupling, an extra delay-time element is introduced into the input channel. Then two ADRC controllers are designed without...
In this paper, in order to solve the path-following problem of underactuated surface ships, active-disturbance rejection control combining with the variable structure is proposed to steer a desired path. On the other hand, the uncertainties of internal dynamic and external disturbances can also be solved. In this way the needed setting parameters are greatly reduced with no change of the intrinsic...
In this paper, a novel interval type-2 fuzzy logic controller (IT2FLC) is proposed for controlling a mobile wheeled inverted pendulum(MWIP) with model uncertainties and external disturbances. The MWIP is a typical underactuated system which is generally composed of two subsystems, an invert pendulum and a mobile robot system. The IT2FLC proposed in this paper is composed of a balancing controller,...
The sampling points in one cycle of 400 Hz inverter is 8 times less than that of 50 Hz inverter, resulting in lower control accuracy and larger static error in 400 Hz power supply system. According to the characteristics of the 400 Hz inverter, this paper establishes a mathematical model for single-phase solid-static power supply system. The changes in line impedance and load can be considered as...
Vibrational control strategies have been proposed to achieve a better performance by using high frequency dithers. A well-known example is to stabilize an inverted pendulum in an open-loop form. Although many different types of vibrational control algorithms have been proposed, not much work has been done to show their robustness with respect to disturbances/uncertainties. By using tools developed...
Unmanned aerial vehicles (UAVs) are widely applied in both civil and military fields, such as rescue, surveillance, exploration, navigation, precision agriculture and etc., because of small size, low cost and easy maintenance. However the autonomous flight of UAVs under unstructured environment is still open, especially when GPS is unavailable or indoor task is scheduled. Furthermore, GPS-based navigation...
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