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Interconnection damping assignment passivity based control (IDA-PBC) is an emerging control design method which allows an engineer to systematically design an advanced controller for complex non-linear systems. As a result specific gain ranges can be determined which can prevent an operator (adversary) from accidentally (maliciously) setting control gains which could potentially destabilize the system...
Effective integration of wind in power-system operations requires a comprehensive approach to data management and decision making. The variability and uncertainty of wind power will require increased flexibility from other power-system resources, and the adaptation of business processes and control systems that manage these resources. Efficient use of grid resources to maintain reliability and minimize...
The problem of designing optimal sliding mode output tracking controllers for uncertain linear systems with the reference signals given by exosystem outputs is considered in this paper. Firstly, an augmented system, composed of the original system and the exosystem, is constructed to transform the optimal output tracking issue into the design problem of linear quadratic regulators (LQRs). And then...
This paper presents a new robust fractional order controller tuned based on Quantitative Feedback Theory (QFT). The new fractional-order controller structure is a general fractional-order zero-pole model. Firstly the virtue and the flexibility of the controller are analyzed in detail. The parameters of the controller are tuned based on Quantitative Feedback Theory (QFT). The PSO technique has been...
A quadruped robot driven by hydraulic cylinders has advantages for heavy loads, but the nonlinear and uncertain dynamics of the hydraulic actuators have to be considered. In this paper, a multi-strategy combination fuzzy sliding mode controller is adopted for the dynamic force control of a hydraulic servo system. First, a nonlinear mathematic modeling of a hydraulic actuator is given. Based on the...
Non-fragile robust control problem of a paper basis weight is studied. It is pointed out that this problem is really a non-fragile robust performance problem, the problem with both non-fragile robust stability and performance requirements(bandwidth and disturbance attenuation). It is also suggested that the design of the non-fragile robust performance can be formulated as a μ-synthesis problem, if...
The large time-delay objects widely exist in industry process and they are difficult to be controlled especially when control coefficient is bigger than 0.5, a hybrid control method with on-line parameters adjustment is adopted to maintain the pressed air pressure of a coal mine at a const value. The Fuzzy-PID controller discussed here has a one-order feedback loop which can decrease lag time, for...
In this paper, based on the new separation principle, we propose a synthesis method to the output tracking control for a kind of uncertain networked systems which are composed of some heteromorphic subsystems. Facing the complex structure and the possible disturbances which are from the interconnected terms among nodes or external, we design, for each node, the integral feedback with variable gain...
Based on Extended State Observer (ESO), a new robust control strategy with backstepping design for modular manipulators is brought forward in this paper. Firstly, considering the motor dynamics of the robot manipulator, the robot manipulator dynamics can be separated into two subsystems named as the robot joint subsystem and the motor subsystem. Then, a third-order and a second-order ESO are respectively...
This paper presents a general form for the fast terminal sliding mode (FTSM). It is shown that the proposed form not only includes the conventional FTSM, but also provides new types of FTSM which can have a faster convergence rate than the conventional one. More importantly, the convergence time of the new FTSM models is bounded for any initial value, which means an upper bound of the convergence...
Active Disturbance Rejection Control (ADRC) is designed for the flight attitude control. It outperforms PD control in the classical time- and frequency-domain simultaneously. With regard to the structured uncertainties in the aerodynamics, two main uncertain factors, resume moment coefficient and control moment coefficient, are separated from the certain part of the closed-loop system by μ analysis...
Adaptive stepping sliding mode control strategy for the overload control of anti-ship missiles using Lyapunov's stability theory is proposed. In the first few steps, we assume there exists a virtual actuator, the virtual actuator concept can make the desired value can be easily traced, in the last step, a sliding mode controller is applied to guarantee the robustness of the system. At the same time,...
This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which...
This paper presents a novel design of adaptive sliding mode observer. An adaptive sliding mode observer with a proportional and integral sliding surface is derived and the stability condition of the closed-loop system is established. The proposed adaptive sliding mode observer could reconstruct the unmeasured states and estimate unknown system parameters in real time despite parameter variations and...
The problem of designing global sliding mode controllers for a class of linear and uncertain systems with time delays of control was concerned. Firstly, we proposed a new method for integral sliding surface. It can make up for the deficiencies of the traditional sliding surface, eliminating the process of reaching and ensuring the global robustness of the system. Secondly, this paper gave the process...
This paper is concerned with non-fragile H∞ filtering for linear systems in network environments. The filtering error system is modeled as a linear system with an interval time-varying delay. Then a delay-decomposition approach is employed to derive a sufficient condition such that the filtering error system is asymptotically stable with a prescribed H∞ disturbance attenuation level, where the non-fragility...
According to the dynamic model of magnetic suspension control systems, H∞ optimizing control algorithm is used in the design of the controller for reducing order in the paper. And then the controller is designed with a DSP as the main core and a MCU as the assistant. Results of experiments show the validity and practicability of the method proposed.
This paper presents a novel H∞ robust controller for a series-parallel resonant converter. The proposed approach employs an accurate MIMO model of the converter to design the robust controller. The controller introduces a new feedback circuit which exhibits very tight output voltage regulation. The system is also robust against the variations of resonant tank components as well as load variations...
In order to analyze the performance of control system affected by scheduling in networked control system (NCS), the guaranteed cost control (GCC) is researched integrating network scheduling. A scheduling model of NCS is established with communication constraint on input and feedback channels. Utilizing communication sequence to express the instance of scheduling, the model can be transform into uncertain...
This paper presents the design of a robust iterative learning controller for a class of nonlinear systems with non-parametric uncertainties. The unknown nonlinearities are only required to satisfy the local Lipschitz condition. The learning controller is developed, by using both robust control and iterative learning control methods, which enables to compensate for the shortcoming when either one is...
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