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This paper presents a novel approach for designing a composite controller that finite time simultaneously stabilizes two single input nonlinear Port-Controlled Hamiltonian (PCH) systems under disturbances. Firstly, using a single output feedback, two PCH systems are combined to generate an augmented PCH system based on the Hamiltonian structure properties. Then, a finite time disturbance observer...
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 variance-constrained composite control problem is investigated for linear uncertain discrete-time stochastic systems. The parameter uncertainties are allowed to be norm-bounded and enter into the state matrix. The purpose of this problem is to design a disturbance observer to estimate the disturbance generated by an exogenous system, then construct the control strategy by...
The problem of robust fault detection (RFD) for nonlinear singular Markovian jump systems (NSMJLSs) with partly unknown transition probabilities is investigated in the paper. The RFD observer (RFDO) system and the dynamics of error generator are constructed. By Lyapunov function approach, the proposed method reduces the conservatism compared with the existing ones. Moreover, the performance index...
This paper addresses the problem of trajectory tracking control for an unmanned surface vehicle(USV) with unknown disturbances and input saturation. Let the saturation function is divided into a smooth function and a bounded function, the saturation function can be approximated by smooth function and the bounded function which can be treated as a system uncertainty. An auxiliary design system is employed...
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...
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...
Observing and estimating system's states are the conditions to realize the effective control in the control and communication engineering field. In this paper for nonlinear descriptor jumping systems, proposed a novel observer, considered the nonlinear perturbation and network communication time-varying delay. A novel full-order delay dependent observer design method is developed by using system stability...
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...
In this paper, a robust centralized fault detection observer is proposed for a three-motor web-winding system. First, the original system model is transformed into a canonical form. Then, based on coordinate change and high-gain observer theory, a centralized observer is designed to estimate the system states, and the relevant sufficient condition for existence of the centralized observer is derived...
The design of a disturbance observer (DOB) for a nonlinear half-car hydraulic active suspension system is presented. The system is controlled by the flatness-based controller (FBC) which is capable to provide efficient control under deterministic road disturbances and model uncertainties. The main objective is to design the mutually coupled general-proportional-integral (GPI) disturbance observers...
The recent paper [9] studied the cooperative robust output regulation of linear multi-agent systems with arbitrary parametric uncertainty via the distributed output feedback control, where the network is assumed to be fixed. In this paper, we further show that the same controller is also efficient for the more general uniformly connected switching network. In contrast to the traditional quadratic...
This paper studies semi-global robust output consensus of multi-agent uncertain nonlinear systems of a strict-feedback normal form. The concerned agents may have high relative degrees with actuating disturbances, thus strictly extended from the previous study [17]. We develop a Lyapunov function based approach to establishing a cooperative output feedback protocol. Specifically, each local protocol...
In the reentry stage, the hypersonic gliding vehicle (HGV) has the obvious characteristics like high-dynamic, large flight envelop, complex flight environment and so on. These features result in severe parameter uncertainties. In order to improve the attitude control performance in reentry stage, the sources of the uncertainty and the unknown parameters are analyzed. Then a robust adaptive controller...
In this work, a controller based on exponential time-varying sliding mode algorithm is proposed for spacecraft hovering around asteroids. The controller is conducted by adopting global sliding mode which removes reaching phase and is shown to be globally asymptotic stable. To eliminate steady-state error and improve precision, disturbance observer is applied in the control strategy. Importantly, the...
For the low precision and response rate of permanent magnetic synchronous motor (PMSM) speed control system in the presence of load disturbance. A backstepping control method based on terminal sliding mode load observer was proposed. Firstly, the non-singular terminal sliding mode load observer which can make the observation error converge in finite time and compensating the controller with estimation...
Under the high-speed operation, the control precision of the industrial robot is low and the robustness is poor due to the coupling effects of joints, inertia parameter variation and external disturbance. In order to solve these problems, a nonlinear compensation control algorithm of high-speed operation robot is proposed by combining the PID control method with the automatic disturbance rejection...
This paper investigates decentralized tracking control (DTC) problem for unknown large-scale systems via adaptive dynamic programming. The DTC consists of local desired control and local tracking error control. By replacing the actual states of coupled subsystems in interconnection terms with their desired states, the norm-boundedness assumption can be removed. Based on local neural network (NN) observers,...
A disturbance estimation approach is presented for a class of nonlinear systems by incorporating two-layer structure. The multiple-disturbances concerned are supposed to include two parts. One is generated by an exogenous system, which can represent the single-sinusoidal signal with unknown frequency. The other part is norm bounded uncertain disturbance. The special auxiliary observer represent the...
This paper considers the problem of robust fault estimation for discrete-time switched system. Firstly, an augmented system is constructed such that the fault as part of the state. Then an unknown input observer (UIO) is employed to estimate the state of the augmented system. Based on the switched Lyapunov function and the generalized Kalman-Yakubovic-Popov (KYP) lemma, a finite-frequency UIO-based...
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