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Double-layer vibration isolation device can significantly reduce the vibration of machinery and equipment delivered to the base or the environment. However, the passive approach is difficult to isolate the low-frequency vibration effectively. Active vibration isolation technology can set the control law according to the adjustment of dynamic characteristics parameters of the system, realize isolation...
In this paper, an adaptive algorithm is proposed for reduced-order synchronization of chaotic systems with different orders. Since the exact model of the system is not known a priory in real applications, or the parameters may change with time, adaptive control strategy is applied to make states of the slave system track those of the master, despite the uncertainties. Here, the adaptive control system...
Using the known periodicity of the given trajectory, we develop a new dynamical linearization method by introducing a concept of PPD, then present a new model-free periodic adaptive control approach (MFPAC) and its extension of higher-order learning control algorithm for a class of general nonlinear and non-affine discrete-time systems. It is model-free in nature and the controller design and analysis...
This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) controller is developed...
This paper treats the chaos synchronization problem of chaotic Chua circuit system. Based on LaSalle invariance principal, the proposed controller is featured that (a) only single variable information of the master system is needed; (b) the control law is a simple linear controller with low gain. Finally, the effectiveness of the proposed control law is also illustrated by the numerical simulation...
To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving...
This paper presents a nonlinear input-state feedback linearization controller for tracking trajectory on horizontal plane with the rudder of an unmanned underwater vehicle (UUV). UUV system is strongly nonlinear, but the model is often simplified into linearization under some strict assumptions in some traditional linear control methods for the need of the control laws, and the linearization may induce...
Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate...
Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant....
Fault tolerance for a class of non linear systems is addressed based on the velocity of their output variables. This paper presents a mapping to minimize the possible jump of the velocity of the output, due to the actuator failure. The failure of the actuator is assumed as actuator lock. The mapping is derived and it provides the proper input commands for the healthy actuators of the system to tolerate...
This paper deals with a new Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems whose structure is simple and dose not depend on any physical model. The proposed controller is based on the theory of a particular class of hybrid systems, called Piecewise Continuous Systems, which are characterized by autonomous switchings and controlled impulses. The effectiveness and...
We propose a computational-oriented perspective within the study of discontinuous chaotic systems, and provide insights into the modelling, control and simulation of chaotic systems with switching dynamics. In particular, the Lorenz system in its piecewise-linear version is studied. This system is reinterpreted within the hybrid-automaton framework, and what is referred to as the Lorenz hybrid automaton...
This paper considers the finite-time stabilization problem for an integrator chain in the context of uncertain measurement nonlinearities, such that the signs of the state variables are the only available information for feedback. The solutions of this problem are known for single, double, and triple integrators. The main result of the present paper is a higher-order sliding mode (HOSM) controller...
The notion of strong observability is generalized for nonlinear systems. It allows to write the state of the system as a function of the measurable outputs and their time derivatives only, therefore allowing the construction of an unknown-input observer once such derivatives are estimated. It is shown that the output based control design problem for robust finite-time state stability for nonlinear...
In this paper we introduce a modification to the classical Second-Order Sliding Mode Observer (SOSMO), used mainly for mechanical systems, and that consists in adding higher order nonlinear injection terms. Besides the usual finite-time con- vergence and exactness of the SOSMO, this new algorithm makes the convergence uniform with respect to the initial conditions, that is, the observation error reaches...
This paper addresses a general theoretical framework of optimal control problems (OCPs) associated with the conventional sliding mode dynamics. We deal with a class of constrained OCPs governed by nonlinear affine control systems and propose some numerically stable approximations to the sophisticated dynamical optimization problem. The above-mentioned structure of the state equations makes it also...
A practical nonlinear model predictive control (MPC) approach is presented for fast response systems. To this end, a nonlinear model of the system is first developed and linearised along a desired trajectory at each instant to obtain as many linear models as prediction horizon. The state variables are observed using an unscented Kalman filter (UKF). The MPC formulation is thus resulted in a linear...
Parameter uncertainty and measuring noise are still very challenging work in developing an appropriate controller for the automated clutch system due to the effect of the external disturbances. This paper introduces a robust control method for automated clutch system. A nonlinear dynamic model for the screw-nut actuator associated with clutch is derived, and then a dynamic sliding mode controller...
This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of second order nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The running cost that renders the control input optimal is also explicitly determined. One special feature of this method, as compared to other methods in the literature, is the fact that...
To synchronize chaotic systems with training data corrupted by noise or rule uncertainties involving external disturbances, a novel direct adaptive interval type-2 fuzzy neural network (FNN) controller in which linguistic fuzzy control rules can be directly incorporated into the controller is developed in this paper. By incorporating direct adaptive interval type-2 FNN control scheme and sliding mode...
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