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This paper presents a general form for the fast terminal sliding mode (FTSM). It is shown that the proposed form not only includes the conventional FTSM, but also provides new types of FTSM which can have a faster convergence rate than the conventional one. More importantly, the convergence time of the new FTSM models is bounded for any initial value, which means an upper bound of the convergence...
In this paper, performances of robust fault estimation are analyzed for a class of uncertain nonlinear systems. A novel robust fault estimation algorithm is first presented based on the assumption that the state variables are fully available. Then two approaches are provided to improve the speed and accuracy of robust fault estimation: One is the parameter choice of the fault estimation algorithm;...
A gradient flow algorithm model developed for the on-line robust pole assignment is proposed for solving Sylvester equations. The algorithm shows to be capable of synthesizing linear feedback control systems via on-line computing feedback gain matrix and desired closed-loop poles. Meanwhile, the close-loop system matrix is least sensitive to perturbation or uncertainty, and uniformly asymptotically...
Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated...
This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which...
Based on observer, delay-dependent robust H∞ controller design problem for time-delay systems with a class of nonlinear uncertainties is discussed in the paper. Assuming that the nonlinear uncertain functions in the considered model are gain-bounded, we obtain a sufficient condition for the robustly asymptotic stability and H∞ performance of the closed-loop system in the light of Lyapunov stability...
A straight-line tracking controller has been designed for the non-linear and under-actuated mathematical module of ship's straight-line tracking control system based on Auto Disturbance Rejection Control (ADRC) technique. On the base of the former auto disturbance rejection control calculation, the auto disturbance rejection controller has been achieved by the combination of two control elements,...
In the structural vibration control, the object often has time-varying and non-linear characteristics, and its exact model is difficult to establish. Due to lack the ability of learning and regulating online, traditional fuzzy control using fuzzy reasoning also has obvious limitations. Adaptive fuzzy control method based on variable universe has advantages such as no need for exact models, fast response,...
This paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller...
This paper presents a robust nonlinear generalized predictive control (RNGPC) strategy applied to a permanent magnet synchronous motor (PMSM) for speed trajectory tracking and disturbance rejection. The nonlinear predictive control law is derived by using a newly defined design cost function. The Taylor series expansion is used to carry out the prediction in a finite horizon. No information about...
In this paper, a robust intelligent tracking control (RITC) system employs a recurrent wavelet-based cerebellar model articulation controller (RWCMAC) is developed for uncertain nonlinear system to achieve H∞ tracking performance. The dynamic structure of RWCMAC has superior capability to the conventional static cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic...
Approximate dynamic programming implemented with an Adaptive Critic (AC) neural network (NN) structure has evolved as a powerful alternative technique that eliminates the need for excessive computations and storage requirements in solving optimal control problems. A typical AC structure consists of two interacting NNs. In this paper, a new architecture, called the “Cost Function Based Single Network...
A multivariate self-adapting decoupling control method based on CMAC and PID was proposed in this paper. The control strategy utilizes PID controller and CMAC to combine a composite controller. Using the composite controller, the strong coupled time-varying system can be decoupled and controlled easily. The doubly fed hydro-generator system is a novel type of hydraulic generation system. Considering...
This paper investigates the observer-based fault detection filtering problem for continuous-time descriptor Markov jump linear systems (DMJLSs). Both parameter uncertainties and state delays are assumed to be time-varying but bounded. A fault detection filter (FDF) is designed such that for all admissible uncertainties, the resultant filtering dynamics is robust stochastically stable, and the residual...
This paper presents a robust nonlinear predictive controller (RNPC) for a class of multivariable nonlinear systems with different relative degree. The classical nonlinear predictive control (NPC) based on Taylor approximation method is reformulated and a new cost function is proposed to design the controller. The parameters of this controller are obtained using both generalized minimum variance (GMV)...
This paper presents hybrid control strategy for robust trajectory tracking control for a class of uncertain nonlinear mechanical systems. The design combines adaptive fuzzy system with robust adaptive control algorithm. Adaptive fuzzy system approximates unknown nonlinear system dynamics while a robustifying adaptive control term is used to cope with uncertainties due to the presence of external disturbance,...
This paper presents the design of a robust iterative learning controller for a class of nonlinear systems with non-parametric uncertainties. The unknown nonlinearities are only required to satisfy the local Lipschitz condition. The learning controller is developed, by using both robust control and iterative learning control methods, which enables to compensate for the shortcoming when either one is...
Near Space Vehicles draw more attention for its high speed transportation and affordable space access. However, advanced control methods for Near Space Vehicles always required full information on the state. In this paper, a higher-order sliding-mode observer is proposed in MIMO nonlinear longitudinal dynamic equations. The observable states can be estimated exactly and the unobservable ones will...
The paper is proposed the design method of nonlinear unknown input observer for Lipschitz nonlinear uncertain. Combined with the stability theory of nonlinear observers and LMI, LMI existence condition and some verification are given for the the nonlinear unknown input observers which can not only estimate the system's state approximately, but enhance the robustness for the system unknown disturbance...
In this paper, operator based robust nonlinear control system design is considered for Peltier actuated process by using robust right coprime factorization and pre-compensator. A merit of the operator based approach is the simplicity of analyzing the stability of nonlinear systems. Especially, operator based robust right coprime factorization is one of the most useful methods to analyze and stabilize...
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