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An accurate estimation of both rotor and stator resistances is usually required to achieve high performance control in induction machine drive systems. In this study, an output feedback predictive controller which is adaptive with respect to these parameters uncertainties is proposed. Such design attempts to a fully decoupling in speed and flux magnitude regulation, as soon as an estimation scheme...
This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in an input delayed omnidirectional mobile robot. The unknown, possibly state-dependent, additive nonlinearity influencing the tracking error dynamics, is modeled as an absolutely uniformly bounded, additive unknown “time-varying disturbance” input...
Neuromuscular Electrical Stimulation (NMES) (also described as functional electrical stimulation (FES) in some scenarios) is a prescribed treatment for various neuromuscular disorders where an electrical stimulus is provided to elicit a muscle contraction. Barriers to the development of NMES controllers exist because the muscle response to an electrical stimulation is nonlinear and the muscle model...
In this contribution, a ℋ∞-controller as derived in is used for the tracking of a sufficiently smooth reference trajectory. The systems under investigation are bilinear SISO power systems with dynamic feedback. Two theorems are presented, when the conditions on time-varying iISS (integral input-to-state stability) and the suboptimality of the feedback control law are fulfilled along the overall error...
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a unknown persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation...
Modern data centers must provide performance assurance for complex system software such as multi-tier web applications. In addition, the power consumption of data centers needs to be minimized to reduce operating costs and avoid system overheating. Various power-efficient performance management strategies have been proposed based on dynamic voltage and frequency scaling (DVFS). Virtualization technologies...
This paper presents a trajectory tracking control design which provides the essential spatial-temporal feedback control capability for fixed-wing unmanned aerial vehicles (UAVs) to execute a time critical mission reliably. In this design, a kinematic trajectory tracking control law and a control gain selection method are developed to allow the control law to be implemented on a fixed-wing UAV based...
In this paper we propose a method for feedback controller synthesis using the concept of control autobisimulation function. Control autobisimulation function (CAF) is the analog of control Lyapunov function for approximate bisimulation. Approximate bisimulation has been used to establish robustness (in ℓ∞ sense) of execution trajectories of dynamical systems and hybrid systems, resulting in trajectory-based...
In the paper, the globally exponential synchronization of a new 3D chaotic systems are investigated. Based on some inequalities techniques, linear feedback controls both with one input and one state or two states and with two inputs and one state or two states are proposed to realize the globally exponential synchronization of two identical chaotic systems. Some sufficient conditions for the globally...
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.
Learning is a social and interactional endeavor, in which the learner generally receives support from his/her social environment. In this process, the learner's feedback is important as it provides information about the learner's current understanding which, in turn, enables the tutor to adjust his/her presentation accordingly. Thus, through their feedback learners can actively shape the tutor's presentation...
This paper presents distributed hybrid sliding mode control (SMC) technique for a class of nonlinear mechanical systems. The proposed technique reduces observer-controller gains from classical output feedback SMC approach via reducing the level of parametric uncertainty. To this end, we distribute uniformly the compact set of unknown parameters into a finite number of smaller compact subsets. Then...
Control of a robot manipulator to follow the desired path is a growing need in today industry, especially for manipulators with more than two links which are capable of miscellaneous motions in space. This paper is thoroughly concerned with the issue, taking in mind the necessity of estimation or filtering states from noises. Abstractly saying, the control used is a feedback-feedforward one while...
The unfalsified control is one type of model-free adaptive control. The control strategy enables one to design a controller that is consist with a performance objective and measured past input-output online data without plant models or assumptions on the plant. The theory works by eliminating candidate controllers that do not satisfy performance specification by evolving experimental data. The controller...
Adaptive nonlinear output feedback control of GD-FNN(generalized dynamic fuzzy neural network) for underwater robot motion control using forming filter for wave disturbance is presented. This method completely construct nonlinear and uncertain parts of underwater robot by online adaptive learning algorithm without knowing fuzzy neural structure and training phase in advance. Output feedback control...
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,...
A neuro-fuzzy learning algorithm is applied to design a Takagi-Sugeno type Fuzzy Logic Controller (T-S FLC) for a biped robot walking problem. The control design considers an output function imposed on the feedback and several TS-FLC models are determined each by ANFIS, which represent a piece-wise control inputs that together to perform a walking cycle. Two simulations of the closed-loop system for...
The transverse function approach pursues the objective to converge tracking error to a bounded transverse function, not the classical objective of asymptotic stabilization. In this paper a new transverse function is presented and control of a path following wheeled mobile robot using transverse function is studied. The effects of the parameters, including the initial value of the transverse function,...
A difference between the human and robots from the viewpoint of motor control is a sampling time in everyday movements. That is, the sampling time for controlling conventional robot systems is required to become approximately 1 ms. On the other hand, the motor control based on human nervous system permits considerably large time-delay due to the transmission latency on afferent/efferent pathways of...
Ionic polymer-metal composite (IPMC) actuators have many advantages; for instance, they (1) can be driven with low voltages (<;5 V); (2) are soft, flexible and easily shaped; and (3) can operate in an aqueous environment (such as water). Important applications for IPMCs include active catheter devices for minimally invasive surgery, artificial muscle, and sensors and actuators for biorobotics....
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