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In this paper Adams-Bashforth approximations were employed for sampled-data modeling of a large class of vehicle dynamics in many degrees of freedom. The problem of path tracking and regulation with geometric and kinematic specifications on the reference paths was focused afterwards. An approach to model-based controller design was presented based on a Lyapunov method over an incremental functional...
This paper presents the design and application of an adaptative control method for a bilateral system of teleoperation. The scheme and control of algorithm have been formulated in the state space following a control technique of the master and the slave state convergence. Based on the mentioned control scheme, gains on the control loop in order to obtain a stable bilateral system with the desired...
In this paper, a new multi-layer neural network (MNN) based system identification scheme in discrete-time is proposed for a general class of nonlinear discrete-time systems with guaranteed asymptotic convergence of the identification error. Then, a MNN based direct adaptive MNN controller design is introduced for a different class of nonlinear discrete-time systems. The unique aspect of the proposed...
We consider the tracking problem of single input single output, unknown, nonaffine systems with guaranteed prescribed performance in the presence of additive input disturbances. By prescribed performance we mean that the tracking error should converge to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a...
A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions (CLFs). Classically, a CLF enforces that the resulting closed-loop state trajectory is contained within a cone with a fixed, predefined shape, and which is centered at and converges to a desired converging point. However, such a requirement often proves to be overconservative. In this...
This paper presents an Iterative Learning Controller (ILC) design for Self-Servowriting (SSW) process in Hard Disk Drives (HDDs). In SSW, the position and timing information are written onto the disk surface by referring to the previously written servo information. This process is repeated until the whole disk is completely written. The main issue in this process is Radial Error Propagation (REP),...
The output tracking problem of periodic reference signals (of known period) for single-input single-output observable minimum phase uncertain linear time-invariant systems with unitary relative degree is considered. A continuous global iterative learning control via output error feedback is designed which guarantees closed loop boundedness and asymptotic output tracking, thus improving the L2 convergence...
Optimal control of infinite dimensional systems is one of the central problems in the control of distributed parameter systems. With the development of high performance computers, numerical methods for optimal control design have regained attention and achieved significant progress, mostly in the form of open-loop solutions. We consider in this work an optimal control problem for a bilinear parabolic...
This paper investigates the stabilization of the single inverted pendulum system by using switching state feedback control. The switching controllers are composed of a steering controller and a stabilization controller. The steering controller is applied to drive the state trajectory into a preset region, and the stabilization controller makes the state trajectory converge to the original point. A...
This paper considers the robust control of tonal reproduction curves. By modeling the xerographic tonal reproduction curve (TRC) plant as a polytopic system, this paper proposes a controller design method with the fastest convergence speed. In order to further improve the performance on color consistency, we propose a controller design method by assigning the closed-loop poles in a sector region....
The paper presents unified framework of feedback motion control design with the Vector Field(s) Orientation (VFO) method for the articulated tractor-semitrailer vehicle in a context of trajectory tracking as well as set-point control problems. The work is an extension of the VFO control method for the nonholonomic systems with higher-dimensional state vector. Obtained control algorithm has an intuitive...
This paper deals with the class of continuous-time singular linear systems with time-varying delays. The stability and stabilization problems of this class of systems are addressed. Delay-range-dependent sufficient conditions such that the system is regular, impulse free and alpha-stable are developed in the linear matrix inequality (LMI) setting and an estimate of the convergence rate of such stable...
We introduce an approach for stable deployment of agents into planar curves (1-D formations in 2-D space) parameterized by the agent index. Stability is ensured by leader feedback, which is designed in a manner similar to boundary control of PDEs. By discretizing the model and the PDE controllers with respect to the continuous agent index, we obtain control laws for the discrete follower agents and...
Repetitive control (RC) is a feedback-based approach useful for tracking periodic reference trajectories, for example in scanning applications. The major challenges with RC include closed-loop stability, robustness, and minimizing the steady-state tracking error. In piezo-based nanopositioning systems, the hysteresis effect can limit the performance of RC designed based on a linear dynamics model...
The goal of this work is to stabilize the shape and orientation of formations of N identical and fully actuated agents, each governed by double-integrator dynamics. Using stability and rigidity properties inherent to tensegrity structures, we first design a tensegrity-based, globally exponentially stable control law in one dimension. This stabilizes given inter-agent spacing along the line, thereby...
The development of an adaptive controller for a flexible link manipulator is the subject of this article. The system's measurements are assumed to be corrupted with noise of a priori known bounds. A set membership identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector's bounds, which are used to compute the...
This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems. In addition to the desired performances and the convergence of the tracking error, the proposed approach guarantees the uniformly ultimately boundedness of the resulting closed-loop system. Furthermore, it allows overcoming many problems related to adaptive fuzzy controllers...
In this work we focus on iterative learning control (ILC) for iteratively varying reference trajectories which are described by a high-order internal model. The high-order internal model (HOIM) is formulated as a polynomial between two consecutive iterations. The classical ILC with iteratively invariant reference trajectories, on the other hand, is a special case of HOIM where the polynomial renders...
This work develops a provably stable broadcast feedback approach to regulating the aggregate output of a collection of stochastically behaving cellular units with pronounced hysteresis. Similar to skeletal muscle, comprised of a number of muscle fibers, the cellular units are independent and each contributes to an aggregate system output. The control architecture consists of a central controller that...
Characterizing convergence speed is one of the important research challenges in the design of distributed consensus algorithms for networked multi-agent systems. In this paper, we consider a group of agents that communicate via a dynamically switching directed random network. Each link in the network, which represents the directed information flow between any ordered pair of agents, could be subject...
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