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The purpose of this study is to apply robust inverse dynamics control for a 6 DOF parallel robot. The implementation is performed considering a simplification of the inverse dynamics control law by assuming the control law matrices as constants, and by using a joint control structure to avoid the forward kinematics calculation. The robust control strategy is applied in the outer loop of the inverse...
In this paper, the design of an Incremental Backstepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore,...
The paper presents the problem of a neural network-based robust state and actuator fault estimator design for non-linear discrete-time systems. At the beginning a review of recent developments in the area of robust estimators and observers for non-linear discrete-time systems is portrayed and a less restrictive procedure for designing a neural network-based H∞ observer is proposed. The developed approach...
In this paper, a sensor stuck fault tolerant control framework for linear time invariant plan models subject to input/state constraints and bounded disturbances is proposed. By taking advantage of a recent contribution on actuator stuck scenarios of the same authors, a receding horizon control reconfigurable scheme is proposed to contrast undesired effects due to sensors malfunctioning. The main merit...
The paper deals with the problem of simultaneous state and process fault estimation for uncertain dynamic systems. Contrarily to the approaches presented in the literature, the nonlinear estimation problem is reduced to the linear one by introducing a suitable system reparameterization and new estimator structure. Instead of estimating the fault directly, its product with state and the state itself...
This paper presents a survey of different control methods deployed for spacecraft attitude control with a focus on strengths, weaknesses and opportunities for improvement. Common methods discussed include Sliding Mode Control (SMC), Unscented Kalman Filter (UKF) and Adaptive Control. Common challenges are the disturbances and uncertainties in space and produced by the spacecraft. This overview is...
This paper presents the developments of finger joints imitating human's joint with soft material to get the adaptability about unstructured environment and unexpected impacts. Lots of researches about robot hand have showed the methods that robot can co-work with humans using high level control algorithm or soft materials, but there are limitation. To get the adaptability and robustness, it is necessary...
In this paper, we consider the fault estimation problem of non-uniformly sampled system with actuator faults and bounded disturbances. First, after being discretized at sampling instant, the non-uniformly sampled system is modelled as an equivalent polytopic system with norm bounded uncertainties. Then, a full-order discrete-time observer that has the same structure of a Kalman filter is constructed...
The dual-drive gantry has widespread industrial use. It is mechanically advantageous in terms of ease and cost of manufacture, low use of precision machined parts, power efficiency among the more significant features. However, control of the prototype gantry is not trivial. Inter-axis misalignment, manufacturing imperfections contribute to the difficulty of control. In addition to all the complexities...
This paper proposes an uncertainty modeling and robust controller design method for miniaturized 3 degrees-of-freedom OISs to deal with its product variabilities. A mathematical model of OISs with product variabilities is developed based on finite element analysis of uncertainties specific for this device. μ-synthesis technique is applied to the uncertainty model to design a robust controller, in...
The paper is concerned with non-fragile control design via output feedback controller for uncertain fuzzy systems. In control design for physical systems, there are chances that malfunction in actuator happens and an exact value of the control input may not be applied. Hence, controller gain variations as well as uncertainty in the system parameters should be considered in the control design. For...
This paper deals with servo control of SISO nonlinear systems driven by piezoelectric actuators operating in highly uncertain conditions. A proportional-integral (PI) Luenberger observer-based controller is systematically designed to achieve accurate tracking performance, enforce desired closed loop dynamics, as well as robust disturbance rejection in the presence of nonlinearities and model uncertainties...
In this paper, we propose a novel state estimation algorithm that is resilient to sparse data injection attacks and robust to additive and multiplicative modeling errors. By leveraging principles of robust optimization, we construct uncertainty sets that lead to tractable optimization solutions. As a corollary, we obtain a novel robust filtering algorithm when there are no attacks, which can be viewed...
Because of its ability to handle multivariable systems, model predictive control (MPC) is well-suited to large and complicated industrial processes. Such systems are affected by unmodeled disturbances, and many systems have actuators that can take on only a discrete set of values. Both of these characteristics can be addressed directly within nominal MPC theory. In this paper we show, under standard...
This paper addresses the robust consensus reliable control protocol design problem against actuator faults for linear parameter-varying multi-agent systems. First, the actuator faults are modeled via a polytopic uncertainty method. Second, a distributed observer is designed for the single agent by sharing the communication network sensors to estimate the state information. Then by these estimated...
In this paper, the problem of robust tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator saturation and uncertainties is conducted. In order to guarantee that the velocity and altitude to track their reference commands, an adaptive anti-up control strategy is presented based on sliding mode control method. The adaptive...
In this paper, based on variable universe fuzzy tracking control (VUFC), we present a novel adaptive algorithm for a class of pure-feedback systems with unknown dead-zone inputs. With some new states variables and coordinate transforms, the system is converted into the normal system and observers need to be designed. So, we can consider VUFC scheme rather than backstepping scheme. VUFC are mainly...
This paper investigates the robust stabilization problem of general switched nonlinear systems subject to actuator saturation under arbitrary switching paths. Firstly, the robust stabilization of nonlinear switched Hamiltonian systems with actuator saturation is studied, the saturation function is expressed by a control input and compensation, then several sufficient conditions are derived and an...
For the ultralow altitude airdrop decline stage, many factors such as actuator nonlinearity, the uncertain atmospheric disturbances and model unknown nonlinearity affect the precision of trajectory tracking, A robust adaptive neural network dynamic surface control method is proposed. The ultra-low altitude airdrop longitudinal dynamics with actuator input nonlinearity is established, the neural network...
In this paper, a modified Prandtl-Ishlinskii (MPI) model is adopted to describe the asymmetric hysteresis of piezoceramic actuators (PCAs), where a one-side play (OSP) operator is used. The benefit for the improved MPI model lies in the fact that an analytic inverse model of the classical Prandtl-Ishlinskii (CPI) model can be directly applied for the inverse compensation. In order to achieve high...
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