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This paper investigates the issue of fuzzy dynamic integral sliding-mode controllers for nonlinear descriptor systems based on Takagi-Sugeno (T-S) fuzzy models. A fuzzy dynamic integral sliding-mode control (DISMC) scheme is developed for the nonlinear descriptor systems to remove the restrictive assumption that all local models share a common input matrix, which is required in most existing fuzzy...
This paper investigates the attractor and stability of delayed Boolean networks (DBNs) with/without state constraints by using the semi-tensor product of matrices. Firstly, the dynamics of DBNs with/without state constraints is converted into an equivalent algebraic form via the semi-tensor product of matrices. Secondly, based on the algebraic form, a new formula is proposed for the calculation of...
This paper concentrates on the leader-following formation control problem of multi-agent systems in the case of enormous quantity agents inside. A new method based on min-weighted persistent formations is proposed to model the distributed interaction topology. The multi-agent topology can be distributed by the same-size k-means algorithm. The control for persistent formation is presented and the stability...
In this article, we study finite-time synchronization of complex network with unknown parameter by applying a new type of sliding form controller. On account of the theory for finite-time control, we introduce a new type of sliding form surface. We testify that the system converge to the zero point in a given finite-time. Then we propose a sliding form controller which guarantee that the sliding movement...
This paper is concerned with the sliding mode control of decaying-dimerizing system with three molecular species and four reaction channels. An integral sliding surface is designed, and the resulting dynamics is a nonlinear biochemical reaction system. By introducing some specified matrices, a sufficient condition is proposed in terms of strict linear matrix inequality (LMI), which guarantees the...
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of...
The paper addresses the finite time stability analysis of continuous-time LTI systems. Based on its definition, the necessary and sufficient condition can be easily derived. Since verification of the condition is almost impossible because it requires computation at an infinite numbers of time points, a set of more efficient and practical LMI-based conditions for solving the problem is obtained. The...
A guardian maps based trajectory tracking control law is proposed for accelerating air-breathing hypersonic vehicles (AHSVs), with scramjet operation limitations taking into accout. At first, a scramjet model with a desired level of accuracy is introduced, being amenable to operation limitation analysis. Then maximum accelerations are calculated across the constant ascent trajectory considering inlet...
In this paper, we present a novel notion of input-to-state safety (ISSf) for general nonlinear systems which can be useful for certifying system's safety under the influence of external bounded input (or disturbance) signals. We provide sufficient conditions for ISSf using barrier function/certificate which are analogous to the input-to-state stability Lyapunov function.
In this work we consider a variety of notions related to external stability, i.e., input-to-output stability, for nonlinear systems with time delays. As known for delay-free systems, there are different ways of defining precisely the notions of input-to-output stability that are intrinsically different from each other. The main objectives of this work are to illustrate the relations among the different...
A tractor-trailer wheeled robot (TTWR) is a kind of modular robotic system that consist of the tractor and the trailer are mechanically coupled to each other. It is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraints property, this paper proposes an adaptive robust cascade controller...
In this paper we are interested in distributed control for dynamically decoupled nonlinear systems with coupled objective function. An event-triggered distributed MPC is designed to stabilize systems and optimize local and cooperative objective function. Different from existing time-triggered approaches, in this work, a contraction constraint is used to ensure stability so that the cooperation matrix...
The problem of the design of a controller for a multi-vectored propeller airship is addressed. The controller includes anti-windup that takes into account unsymmetrical actuator constraints. Two controller design methods were applied: one-step and two-step anti-windup controller design (AWC). The one-step method obtains the controller and the anti-windup compensator in one step while the two-step...
This paper studies a load transportation problem using two and three quadcopters for outdoor applications. We construct a transportation controller, that consists of a formation controller to track a desired trajectory and a load sharing controller to share the load effects, in a distributed way. Specifically, based on the displacement-based formation and consensus approaches, the formation and load...
A stability preserving interpolation method is proposed for parametric SISO LTI systems with a scalar parameter. The proposed method is based on the geometrical interpolation of the poles. The poles travel on a certain trajectory while the scalar parameter changes and samples of these trajectories are known. Since the real trajectories are unknown between samples artificial trajectories are proposed...
This paper discusses the learning of robot point-to-point motions via non-linear dynamical systems and Gaussian Mixture Regression (GMR). The novelty of the proposed approach consists in guaranteeing the stability of a learned dynamical system via Contraction theory. A contraction analysis is performed to derive sufficient conditions for the global stability of a dynamical system represented by GMR...
In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to...
The voltage stability security is a very important and relevant issue in the modern power networks. The voltage instability can drive the system to a blackout. One of the methodologies to deal with this problem is analysing the trajectory sensitivity of the system. The STATCOM is an important hardware that is used to improve the voltage stability of an electric power network. The main objective of...
We propose a real-time near-optimal motion and trajectory planner using an interior-point method (IPM) based simultaneous dynamic optimization approach applicable to automatic parallel parking. Partitioning an automatic parking zone into two areas with and without inequality constraints drastically improves the convergence efficiency of the IPM-based simultaneous dynamic optimization of nonlinear...
This work proposes an adaptive dynamic controller for an unmanned aerial vehicle (UAV) to track a desired trajectory. Initially, reference velocities are generated by a controller that is based only on the kinematic model of the UAV. Subsequently, new control actions are calculated to compensate for the internal dynamics of the robot. Then the model parameters that characterize the robot dynamics...
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