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Iterative learning control (ILC) is an approach suitable for systems which repeatedly perform a tracking task over a fixed time interval. However little attention has been paid to the case of multiple input, multiple output (MIMO) systems. In this paper theoretical results are derived and establish a close link between increased interaction, reduced robustness, slower convergence and greater control...
A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired trajectory. The cascade control system is applied...
This paper deals with the consensus disturbance rejection problem for networked systems coordinating over uncertain communication channels. Each communication channel of the network is modeled as an ideal transmission system with the unitary transfer function perturbed by a norm-bounded uncertainty, which is particularly susceptible to describe quantization errors and communication noises. A distributed...
In this paper, the finite time trajectory tracking method is established for hypersonic vehicles. A new quasi-linear parameter varying model is proposed and a finite time controller is designed by the sliding mode method of output feedback. The matching conditions of disturbances and uncertainties are satisfied naturally which ensures the established control method has very excellent robustness and...
This paper proposes a robust fault detection observer based on zonotopes for discrete-time uncertain systems with sensor faults and unknown but bounded uncertainties. The main advantage of this method is that the observer gain of the robust zonotopic observer is designed to be robust against bounded uncertainties while being sensitive to faults. In order to detect sensor faults with low magnitudes,...
In this paper, the problem of the robust dissipativity is studied for a class of uncertain neural networks with time-varying delays. By constructing appropriate Lyapunov-Krasovskii functional, using linear matrix inequality(LMI) technique, several new criteria are obtained, moreover, these conditions are expressed in terms of LMI and can be easily checked by Matlab LMI toolbox. Finally, one example...
In this paper a combined controller composed of the H∞ virtual controller and the sliding mode controller is proposed to improve the rigid spacecraft robustness. Considering the strong nonlinearity of the spacecraft dynamics, tensor product (TP) transformation is applied on the linear parameter varying (LPV) model which is obtained from the attitude kinematics system. The TP-based H∞ controller can...
This paper investigates a low-complexity prescribed performance control approach for combined spacecraft with an unknown captured object in the presence of external disturbance. First, a prescribed performance function with appropriate parameters is selected for the filtered state variables involving the attitude and angular velocity. Then, a low-complexity robust prescribed performance controller...
A novel disturbance rejection control scheme is proposed to address the robust attitude control problem for the air-breathing hypersonic vehicle (AHV) with mismatched disturbances. The attitude control system is decomposed into two subsystems, the outer-loop subsystem and inner-loop subsystem. The predictive sliding mode control (PSMC) is utilized to attenuate mismatched model uncertainties imposed...
In this paper, the robust recursive filtering problem is investigated for a class of uncertain multi-rate systems in sensor networks. Each sensor node receives signals from its neighboring node according to a given network topology. The uncertain multi-rate system under consideration is first transformed into a singular uncertain single-rate system by recurring to the lifting technique. Then, an optimal...
Most industrial/commercial robots typically employ an unmodifiable inner joint controller and only the joint position or velocity command can be designed by the user. In this paper, we propose a robust approach to the control of such robotic systems with the uncertainty and nonlinearity being taken into consideration. We develop robust outer loop controllers that can rigorously ensure the uniform...
In this work, an event-triggered adaptive robust controller (ET-ARC) design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter uncertainties. In the event-trigger scheme, the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance...
In this paper, we study the problem of robust H∞ control for a class of the time-delay singularly perturbed systems with norm-bounded parameters and uncertain parameters. The sufficient conditions for the existence of H∞ robust controllers are given based on the matrix inequality, so that the closed-loop system is robust to all admissible uncertainties and satisfies H∞ performance index. Furthermore,...
In this paper, a robust repetitive control for time delay systems is investigated supporting high precision tracking of nano-manipulating systems. To handle the time delay of such systems, the repetitive control structure is reformulated and the design of q filter is converted to the mixed sensitivity optimization of infinite dimensional systems, where Skew-Toeplitz based approach is used for controller...
This paper investigates the periodic disturbance rejection control of time-delay process by integrating a modified disturbance observer (MDOB) and internal model control (IMC) structure. A modified disturbance observer design method based on zero-pole placement is proposed. By the MDOB, periodic disturbance can be accurately estimated and the estimation is used as compensation to suppress disturbance...
In this paper, we consider the robust sliding mode control problem for a class of systems with norm bounded parametric uncertainty and external disturbance. Based on Lyapunov stability theory and linear matrix inequality approach, the proposed control scheme can achieve both asymptotic stability and some robust performances, and the corresponding robust controller that assures the occurrence of sliding...
For controls of proton exchange membrane (PEM) fuel cell (FC) systems, it is desirable to achieve accurate tracking of desired net output power with optimal oxygen excessive ratio (OER). In this paper, a cascaded control framework is proposed for the FC output power tracking problem, which is a sequential combination of a multi-input-multi-output (MIMO) robust nonlinear non-interacting (RNNI) controller...
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) transportation systems. The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously. Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method,...
With the development of the Plug-in Electric Vehicles (PEVs), it has become a significant part of electric load. The optimal PEVs' charging and discharging scheduling is a vital problem when PEVs connect into the smart grid. In most literatures, the charging and discharging procedure is assumed idealized. In reality, many uncertainties are exist during the procedure, such as the conversion efficiency,...
This paper proposes a robust adaptive backstepping sliding mode control (ABSMC) algorithm for the speed regulation of a six-phase permanent magnet synchronous motor (PMSM). In the proposed technique, ABSMC is used to guarantee the speed tracking and parameter perturbation suppression, meanwhile, nonlinear H∞ is utilized to minimize the influence of fast-varying load disturbances on its tracking output...
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