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This paper presents a novel approach for an interval-based gain scheduling control design aiming at a guaranteed stabilization of the system dynamics over a predefined time horizon. Due to the goal of asymptotic stability, the design aims at the temporal reduction of the widths of intervals representing worst-case bounds of the system states at a specific point of time. The main idea of the control...
A model-based control design method is developed for nonlinear reactive sputter processes that can be modelled by a nonlinear ordinary differential equation with linear input and stable and unstable equilibrium states. The controller shall robustly stabilize the unstable working points. Lyapunov's direct method is used to formulate stability conditions that respect possible uncertainties in the process...
The paper discusses a novel probabilistic approach for online parameter estimation of the predictor model used in an MPC (Model Predictive Control) setting in the presence of model uncertainties and external disturbances. Model uncertainty makes it hard to compute an optimal control in general case, because it is needed to take into account all possible values of model parameters. Therefore, it is...
This paper presents a controller design methodology for linear dynamic systems with interval parameters. In order to overcome the conservatism of classical Interval Analysis methods applied to this class of uncertain systems, the paper proposes a solution for the problem of multi-incidences of model parameters when the controller design is based on interval Diophantine equations. The paper includes...
The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adaptive...
The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic...
The goal of this article is to analyze the assurance of permissible quality indices in an interval system through the construction of the edge route and the use of D-partition method. There were obtained conditions for construction of D-partition domains on one and two edges of one face. On the basis of these conditions the technique for assurance of the permissible degree of robust stability and...
This paper addresses the design problem of robust scaled-H∞ controllers composed of state observers and state-feedback controllers for polytopic systems with time-invariant parameters. Even when designing robust H∞ controllers for time-invariant polytopic systems, multiple uncertainty blocks are often introduced to represent various design requirements, in particular, frequency domain requirements...
In this article, a fractional filter internal model control (EMC) based proportional integral derivative (PID) controller is designed for controlling the unstable inverted pendulum system. The system is stabilized by using a compensatory function to cancel out the unstable poles and zeros in the model. Now, the controller is designed for the stabilized model producing a PID controller along with fractional...
This paper addresses the problem of sequential binary hypothesis testing in a multi-agent network to detect a random signal in non-Gaussian noise. To this end, the con-sensus+innovations sequential probability ratio test (ciSPRT) is generalized for arbitrary binary hypothesis tests and a robust version is developed. Simulations are performed to validate the performance of the proposed algorithms in...
A novel terminal sliding control scheme is proposed to solve the coordinated control problem of coupled spacecraft. The integrated translational and rotational dynamics is employed using dual quaternion. A model-independent terminal sliding controller is further proposed such that the defined dynamical synchronization error can converge to the desired trajectory in finite time. Numerical simulations...
This paper presents the speed tracking control of unicycle type mobile robot in the presence of environmental disturbances and model uncertainties. In order to solve tracking issues, a Linear Active Disturbance Rejection Control (LADRC) based control is proposed here. the forces and voltages of the motors acting on the two wheels are considered in the dynamic model of the robot. The proposed control...
Three-degree-of-freedom trajectory tracking of the stratospheric airship is investigated. With a simplified planar dynamic model, an adaptive backstepping sliding mode controller is designed to keep the airship to globally asymptotically track a desired trajectory. Lyapunov functions are used to ensure the tracking performance when model parametric uncertainty and external disturbances exist. Simulation...
Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not...
We present a method for joint robust design of linear source and relay filters in a MIMO full-duplex link that supports the transmission of several data streams. The system model accounts for self-interference in the relay, limited dynamic range at the transmit and receive sides of the nodes as well as channel uncertainty. The design criterion is to minimize the worst-case mean square error at the...
The paper proposed a robust optimum thresholding method based on local intensity mapping(LIM), class uncertainty and region stability theories to segment fuzzy and noisy images. First of all, the intensities of an image would be mapped into another intensity space by LIM which could decrease the influence of noise and uneven intensity distribution. Then, the intensity-based class uncertainty is applied...
Nonlinear dynamic inversion (NDI) has been applied to the control law design of UAVs for many years mainly due to its good robustness. However, it has a weakness of relying on accurate model of the plant greatly, which restrains its application since UAVs are easy to be influenced by persistent disturbances such as model uncertainties, winds and gusts; thus, development of accurate model for attitude...
This paper develops a sliding mode control (SMC) approach for a class of uncertain nonlinear systems with unmatched uncertainties/disturbances. The newly proposed method is based on a novel fixed-time convergent sliding mode disturbance observer which can estimate the unmatched disturbance in a fixed time (time whose upper estimate is independent of the initial conditions). By designing a novel sliding...
An active disturbance rejection controller (ADRC) is designed and originally implemented on a real torsional plant. The torsional plant resembles the dynamics of a rotational system. Due to mass imbalance, centrifugal imbalance, and the non-coincidence between the principal and geometric axes of a rotating disc, the system parameters of this torsional plant are varying constantly. In addition, an...
This paper proposes a new approach for robust pole assignment in second-order systems with proportional plus derivative state feedback. The desired closed-loop poles set locates in an arbitrarily specified circular region, and it can be easily taken as a part of the design parameters based on geometric principles. The object can be converted into a global dynamical optimization problem based on geometric...
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