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Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by using fat-tailed sensor models, which account for the possibility of outliers. Unfortunately, all estimation algorithms belonging to the family of Gaussian filters (such as the widely-used extended Kalman filter and unscented Kalman filter) are...
Flat filtering constitutes a reinterpretation of Generalized Proportional Integral Control (GPIC) in the form of robust Classical Compensation Networks (CCN). Roughly speaking, any linear controllable system can be output regulated with the help of a well tuned filter and a suitable cascaded linear combinations of the internal states of such filter. Here, it is shown that such classical tool is also...
This paper studies the event-triggered control problem of nonlinear discrete-time systems in the presence of external disturbances. In particular, we focus on the case in which whether or not the system state is sampled at step k is determined by the feedback information at step k − 1. This problem is motivated by practical applications, and the proposed solution drastically differs from the existing...
In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie uncertainties.The uncertainty is decomposed into matched and unmatched components, and an augmented control is introduced for the unmatched uncertainty. An optimal control algorithm based on Hamilton-Jacobi-Bellman(HJB) equation is proposed for the design of a bounded...
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...
An innovative solution for global non-quadratic observer design of nonlinear systems is presented in this report. Via an exact convex representation of the model in the Takagi-Sugeno form, an observer which employs the nonlinearities of the system as well as a discontinuous function of their time derivatives, is proposed. It is shown that such a structure, when combined with a non-quadratic Lyapunov...
A new backstepping control scheme for piezoactuator-driven stage using prescribed performance is proposed. The piezoactuator-driven stage's hysteresis behavior is described by Bouc-Wen model. A prescribed performance bound is used to tackle the tracking error's convergence rate and maximum overshoot. H-infinity robust control is used to improve the robust controllability of the piezoactuator-driven...
This paper studies a speed tracking and nonlinear disturbance rejection problem of PM synchronous motor. By formulating the problem as a robust output regulation problem of multivariable nonlinear system, we propose a robust output feedback control law by nonlinear internal model design. It is also worth mentioning that the control law, can not only achieve asymptotic tracking of desired speed, but...
The design and control for the nonlinear feedback system is considered by using operator-based right coprime factorization method, by which there exist some cases that the factor D is difficult to be obtained since the factor D−1 is high nonlinear which renders the verification of the Bezout identity KN + QD = M to be a painstaking process, where K and Q−1 is respectively the feedback and feedforward...
This paper proposes an H∞ polytopic filter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic filter design is converted into a group of linear matrix inequalities (LMIs) so that the polytopic filter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product (TP) model transformation...
In this paper, the complex modified projective synchronization (CMPS) of two different fractional-order chaotic complex systems is firstly investigated. We assume that the slave system is perturbed by external disturbances. The master and slave systems achieved CMPS can be synchronized up to a complex scaling matrix. On the basis of a novel stability theory, a robust control law is designed to realize...
This paper investigates an output feedback active disturbance attenuation methodology for a class of mismatched perturbed nonlinear systems whose nominal system is a chain of integrators. Inspired by the wide applicability of the generalized extended state observers, an output feedback domination approach is first integrated with the design of recursive composite virtual control laws. Adopting the...
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...
In this paper, a robust adaptive controller for single input uncertain nonlinear systems by taking parametric uncertainties and external disturbance into consideration is proposed, in which the adaptive law is synthesized to handle parametric uncertainty and a novel robust term is incorporated to attenuate lumped disturbance such as unconsidered dynamics as well as external disturbances. An asymmetric...
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach: We first design a robust nonlinear state feedback that renders the closed loop input-to-state stable (ISS). Here, the input is considered to be the estimation error of the uncertain parameters, and the state is considered to...
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...
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...
Motivated by the significance of robust fault estimation of complex systems, the presented paper aims at developing an effective observer for stochastic nonlinear systems subject to partially decoupled unknown inputs from both plant and sensors, so as to estimate the trends of considered faults and states simultaneously, while attenuate the influences from unknown inputs. Firstly, stochastic input-to-state...
The operator-based right coprime factorization method is applied to deal with the design and control issues for the nonlinear feedback systems. In details, the general case of the unimodular operator M is discussed since the satisfaction of the Bezout identity AN + BD = M is necessary and important in the method of right coprime factorization, where a sufficient condition is proposed by which the...
In this paper, we investigate the fault estimation and robust tolerant control problem for a class of nonlinear dynamic systems described by Takagi-Sugeno (T-S) models. Based on the fuzzy proportional-integral observer scheme, the state controller presented can compensate the system's actuator fault and track the corresponding reference faulty-free model system. The robust stability analysis of the...
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