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Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that...
In this paper, a robust nonlinear control approach based on a simplified control-oriented model of an engine cooling system for vehicles is presented. An electrically driven radiator fan is considered as a control input. Based on the system description, a second-order sliding mode control is proposed to track desired trajectories of the engine outlet temperature. The second-order sliding mode control...
Conventional interval observer-based sensor fault detection and isolation (FDI) approach mainly considers given magnitude fault. This paper proposes a novel robust detection and isolation approach of unknown sensor faults based on interval observers and invariant sets, which extends sensor faults with given magnitudes to sensor faults with unknown but bounded magnitudes. In addition, in order to reduce...
Here is applied The Immersion and Invariance method (I&I) in order to design a novel observer to solve the chaotic synchronization for the master-slave configuration, where the master belongs to a class of feedback linearized systems. This paper shows a robust observer which asymptotically calculates the underlying dynamics of the master system. We performed convincing numerical simulations.
We propose a new method to estimate the trajectory of a source based on the two angles of the arrival lines of two waves emitted by the source but propagating with two different speeds. This difference between speeds is due to either the different natures of the waves or the different natures of the media in which the waves propagate. The source is assumed to move with a constant velocity and the...
The paper demonstrates potential of application of nonlinear control theory for tracking control of induction motor drive for machining applications. Control algorithm is based on nonlinear control theory. The paper includes also analysis of influence of parameter variations. Information about state variables needed for control is obtained from a nonlinear Luenberger-type observer designed using the...
Virtual characters capable of showing emotional content are considered as more believable and engaging. However, in spite of the numerous psychological studies and machine learning applications trying to decode the most salient features in the expression and perception of affect, there is still no common understanding about how affect is conveyed through body motions. Based on findings reported by...
This paper presents the details and experimental results from an implementation of real-time trajectory generation and parameter estimation of a dynamic model using the Baxter Research Robot from Rethink Robotics. Trajectory generation is based on the maximization of Fisher information in real-time and closed-loop using a form of Sequential Action Control. On-line estimation is performed with a least-squares...
This paper demonstrates that the signal structure of an interconnected dynamical system, such as that represented by various dynamical graphical models, can be very different from the interconnection structure of its subsystems. These differences are revealed by considering the network semantics of each representation, characterized by the set of realizations consistent with each network structure...
Aiming at an accurate tracking of repetitive desired trajectories, a multivariable temperature control is proposed for a metallic rod using norm-optimal iterative learning control techniques. The rod can be geometrically partitioned into four segments, each equipped with a Peltier element. Two of these four Peltier elements are employed as distributed control inputs to track smooth desired trajectories...
Knowing the position of the spool in a solenoid valve, without using costly position sensors, is of considerable interest in a lot of industrial applications. In this paper, the problem of position estimation based on state observers for fast-switching solenoids, with sole use of simple voltage and current measurements, is investigated. Due to the short spool traveling time in fast-switching valves,...
In the declining stage of soft landing on asteroid, there are many problems in control system of probe such as low convergence speed, long convergence time and severe chattering. A terminal sliding mode control method based on double power reaching law is proposed in this paper. On the basis of conventional reaching law analysis, combined with nonlinear, weak gravitational field characteristics, control...
This paper demonstrates a discrete-time state observer for a 3DOF helicopter subject to unknown perturbations. The observer is based on a very recent second order sliding mode scheme [12], which is robust in spite of uncertainties and perturbations, ensures finite time convergence to boundary layer, reduces the chattering, increases estimation accuracy and does not require the knowledge of the bound...
In this work, a dynamic feedback control law based on the well known “Twisting” algorithm is under study. Dynamic compensation is added to the Twisting algorithm, in order to use position feedback only, and keep properties such as finite time stability. Moreover, linear terms are considered to improve the robustness of the algorithm. In some mechanical applications, an observer or a differentiator...
Usually the identification of piecewise affine systems consists of two steps. First, subsystem parameters are identified before the state space partition is reconstructed. For the later step, it is common to label the states of a recorded trajectory and separate differently labeled states with the help of linear support vector machines. In this paper, we present an alternative approach to estimate...
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties...
A family of linear time-varying systems with an input, an output and delays in the input is considered. It is shown that, under a stabilizability and a detectability assumption, systems of this family can be exponentially stabilized through a time-varying feedback depending on past values of the output and the input.
This paper solves the output synchronization problem for groups of identical linear agents subject to constant external disturbances. We propose novel distributed control laws with integral action. In a first step, we assume that each agent has access to its own state. Then, we present observer-based implementations for the cases where each agent has only access to its output or to a relative output...
The recent research is trending to develop robust solutions for controlling nonlinear systems with uncertain dynamics. This paper employs a novel approach of active disturbance rejection control (ADRC) based on extended state observer (ESO) to solve the nonlinear control problem with uncertain dynamics. To evaluate the actual performance of the ADRC, the classical nonlinear system of cargo ship steering...
Two robust controllers, a linear disturbance estimator (DE) based controller and a standard integral controller, are respectively designed for multiple 3-DOF helicopters to achieve attitude-trajectory synchronization in both elevation and pitch tracking. These two controllers are shown to have similar structure but with different tuning parameters. It is further discovered that DE benefits from a...
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