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A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. At each time instant, the control action is computed via two robust controllers working in a nested fashion. The inner controller provides local reference trajectories computed on a fully decentralized framework. The outer controller uses this information to take into account the effects...
The magnetic levitation (MagLev) system control is one of the most complex problems due to open-loop instability, nonlinear dynamics and uncertain parameters. The 3rd order differential model of MagLev is linearized by using input-output linearization. The control law is designed using feedback linearization (FL) augmented by uncertainty estimates. The states and uncertainties are estimated using...
To meet the requirements of contouring accuracy, multi-axis coordination, and high productivity in the fields of machining tools, many researchers devote to exploring various strategies in terms of controller design, coordinate frame construction, and trajectory planning for high-performance multi-axis motion. In this paper, a generalized global task coordinate frame (GTCF) is constructed for complicated...
The speed and maneuverability of targets have been considerably increased, thus, improving the performance of the traditional guidance law is highly required for interceptor missile. Based on the concept of zero-sum game, a differential game guidance law is studied in this paper. The adversaries in conflict are considered as two independently controlled agents, the miss distance is considered as cost...
This paper proposes an effective method to balance the confliction between higher steady-state precision and stronger robustness in sliding-mode control systems. Different from the conventional two-phase-based sliding-mode control, the proposed sliding-mode control (SMC) is divided into a three-phase-based control, which include the first reaching phase, the second sliding-mode moving phase and the...
In this paper, we stablish robustness of discrete-time inverse optimal control for nonlinear systems trajectory tracking; we analyze in detail disk margin which includes sector and gain margins. We illustrate the applicability of this result by means of a linear induction motor example.
Boolean networks are popular models to represent gene regulatory networks due to their simplicity and capacity to give an initial idea of the qualitative dynamics of a gene regulatory network represented by the temporal evolution of the protein states. In this paper, we analyze the neutral space of Boolean network models of salt stress response in Arabidopsis through the construction of neutral networks...
Motion trajectory tracing in indoor environment has become increasingly important, has the potential to support a broad array of applications including elder care, business analysis, pedestrian navigation. Traditional approaches involve wearable sensors, specialized hardware installations. This paper presents SmartMTra, an infrastructure-free, inertial sensor based motion trajectory tracing system...
This paper presents a combined plant and controller analysis and optimization for a tethered rigid wing with on-board rotors, flying in crosswind patterns. Specifically, we use a 3-D model of the tethered wing to assess the influence of critical design parameters on both quality of flight and energy generation performance, as quantified by the “Loyd Factor” [1], which compares energy generation performance...
This article addresses the problem of a real-time implementation trajectory control for a miniature Quad-rotor aircraft along a time-depedent trajectory outdoor. A robust algorithm control based on sliding mode approach is proposed for the trajectory-tracking task, that ensures the convergence to a desired path r(t) in a finite time. A polynomial smooth curve trajectory is selected as reference signal...
We consider the decentralized output feedback control of stochastic linear systems, subject to robust linear constraints on both the state and input trajectories. For problems with partially nested information structures, we establish an upper bound on the minimum achievable cost by computing the optimal affine decentralized control policy as a solution to a finite-dimensional conic program. For problems...
We propose a new method for controlling rigid robot manipulators guaranteeing that a user-defined tracking performance is ultimately met while facing uncertain system dynamics and input disturbance. Our control approach is based on the passivity-based control technique and eliminates the limitations of existing methods (e.g. impractical tuning to avoid chattering and difficult estimation of uncertainty...
We propose a robust composite adaptive impedance controller with bounded-gain forgetting (BGF) for a three degree-of-freedom (3-DOF) active prosthetic leg for transfemoral amputees. We design a robust adaptive controller so the error trajectories converge to a boundary layer and the controller shows robustness to ground reaction forces (GRFs) and parameter uncertainties. The boundary layer not only...
A novel control technique is proposed by combining P-type Iterative learning control (ILC) and model predictive control (MPC) with updating-reference for point-to-point tracking problem of batch process. In this paper, a batch-to-batch updating-reference, which passes through the desired points, is designed as the tracking trajectory within batch. The update law consists of two parts: P-type ILC and...
Two different control schemes about the control system and development of 3-UPU parallel robot research are proposed in this paper, which can realize three-dimensional translation. One of the schemes is using fuzzy PID control based on robot kinematics, the other is using the improved robust PI control based on robot dynamics. On the basis of the established simulation model of parallel mechanism...
We provide a new adaptive controller for curve tracking in the plane under unknown curvature. We prove a global asymptotic stability theorem that ensures tracking of the curve and convergence of the curvature estimate to the unknown curvature. Our curvature identification result is an improvement over the known adaptive curve tracking results, which do not ensure parameter identification, or which...
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfies desired specifications that ensure correct system behaviors, while optimizing a desired performance criteria. We define the correctness of a system's behavior according to the system's relation to the environment, for example, the output trajectories of the system...
A method is presented for synthesizing output estimators for a class of continuous time, uncertain, linear parameter-varying (LPV) systems. The uncertain system is described as an interconnection of a nominal LPV system and a block structured perturbation. The nominal LPV system is “gridded” over the space of parameters, with the state matrices being arbitrary functions of the parameters. The input/output...
In this paper, a method of unmatched disturbance compensating integral sliding model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The basic idea is to shape a discrete-time integral sliding mode control into an optimal constrained control problem with model predictive control. By choosing another projection matrix in the integral sliding surface,...
This paper presents some further results on sliding mode control for a class of nonlinear systems with bounded uncertain parameters. A finite-time sliding manifold is proposed by incorporating piecewise defined function of time into the existing terminal sliding manifold, based on which a novel time-varying finite-time sliding mode controller is proposed. The proposed control strategy eliminates the...
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