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This paper develops an approach to dealing with the global robust output regulation problem for a class of nonlinear systems with integral input-to-state stable (iISS) inverse dynamics by using output feedback control. As iISS condition is strictly weaker than ISS condition, the result of this paper applies to a larger class of nonlinear systems.
Many experiments have shown that interval type-2 (IT2) fuzzy PI controllers are generally more robust than their type-1 (T1) counterparts, as they are better able to cope with disturbances and uncertainties and eliminate oscillations. This paper aims at providing theoretical explanations to these experimental observations. Analysis has shown that the additional degrees of freedom provided by the footprint...
In this paper a trajectory tracking system for UAV is studied. The system consists of a flight control system and a guidance law. In inner loop, robust H∞ control theory is used to design the flight control system. In outer loop, the navigation control commands are produced by the deviation of the real position data of UAV and the preset flight path. The attitude commands are calculated from navigation...
In this paper, a velocity controller based on H∞ loop shaping for an unmanned helicopter is presented. H∞ loop shaping controller guaranteed the stability margin of the closed-loop system above desired level. The performance of the controller is improved using gain-scheduling of key parameters. The simulation results show that the controller is robust and has good performance.
In this paper, we investigate the design problem of the sliding mode control for uncertain singular time-delay systems. Based on the dependent-delay robust stability criterion, we give an integral-type surface and propose a delay-dependent sufficient condition such that the sliding mode dynamics restricted to the surface is regular, impulse free, robustly asymptotically stable for all admissible uncertainties...
This article describes the design of an observer-based, robust, linear output feedback controller for the regulation, and output reference trajectory tracking tasks, in switched “buck” converter circuits with completely unknown, time-varying, resistive loads. The disturbance effects of the unknown load resistance are on-line estimated by means of a Generalized Proportional Integral (GPI) observer,...
This work deals with the modeling and the robust controller synthesis of a nonlinear dc-dc converter. In the first part, we present a model for the bilinear dynamics of a dc-dc converter. The bilinear dynamics of the converter can be included in a convex polytope such that the trajectories of the system out of the equilibrium are assured to remain inside a guaranteed region of stability despite of...
The design of a Second Order Sliding Mode controller to perform the motion control of a robot manipulator in presence of obstacles is discussed in this paper. A possible solution to the problem of planning a trajectory for the manipulator is first proposed. The obstacles are represented by discs in the robot workspace. The proposed solution consists in an analytical mapping of the discs, representing...
This paper presents a robust nonlinear generalized predictive control (RNGPC) strategy applied to a permanent magnet synchronous motor (PMSM) for speed trajectory tracking and disturbance rejection. The nonlinear predictive control law is derived by using a newly defined design cost function. The Taylor series expansion is used to carry out the prediction in a finite horizon. No information about...
In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree...
The development of discrete sliding mode control for three-phase PWM converters with LCL filter is presented. This robust control method is investigated for the current control loop. Done in a discrete state space system, a feedforward feedback structure is utilized. A reference state trajectory and feedforward control in αβ coordinates, discrete integral SMC in dq coordinates are designed and analysed...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator...
This paper addresses the trajectory tracking control problem of a nonholonomic wheeled mobile robot in presence of modeling uncertainties. A trajectory tracking controller is proposed by combination of an adaptive feedback linearizing controller and an adaptive robust PID control law. A SPR-Lypunov stability analysis demonstrates that tracking errors and parameters estimation errors are globally uniformly...
This paper proposes a new task coordinate frame (TCF) for contouring control of biaxial systems. Existing task coordinate frames are only locally defined based on the desired contouring trajectory to be tracked and the calculated contour error is an approximation to the actual contour error only. As such, they are applicable to contouring tasks with small curvature and little actual trajectory tracking...
We investigate the learning issue in the robust adaptive neural-network (NN) control process of manipulator with unknown system dynamics and disturbance. Based on recently developed deterministic theory, the regression vector of an appropriately designed robust adaptive NN controller satisfies the partial persistent exciting (PE) condition when tracking a periodic or periodic-like reference orbit,...
This paper describes the design of robust and anti-windup controllers for an air-breathing hypersonic vehicle model. Firstly, a control algorithm is presented to design robust and anti-windup controllers for linear systems with modeling uncertainties and input saturation nonlinearities. Based on the characterization of modeling uncertainties and saturation nonlinearities via integral quadratic constraints...
The robust stabilization of switched systems with nonlinear disturbance and its application are studied, and the sliding mode control theory is applied to the controller synthesis. The reduced-order sliding mode dynamics and a sufficient condition of its stability are given by introduce a linear transformation. Moreover, the switching law is chosen and a sliding mode control law is synthesized based...
This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
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