Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence condit...
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ISBN:
(纸本)9781509035496
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence conditions of the open-loop iterative learning schemes is presented.
Nonlinear backstepping adaptive controller is proposed for the design of parallel DC-DC buck converters with uncertainties of load and power disturbance. Global asymptotic stability of the system is proved by Lyapunov...
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ISBN:
(纸本)9781467318723;9781467318716
Nonlinear backstepping adaptive controller is proposed for the design of parallel DC-DC buck converters with uncertainties of load and power disturbance. Global asymptotic stability of the system is proved by Lyapunov stability theory. the relationship between the control elements and circuit parameters is determined by simulation analysis. the simulation results demonstrate the effectiveness of the presented method.
In this paper, the design of a velocity/force observer for robot manipulators in constrained movement is studied. For this purpose, Generalized Proportional Integral Observers are employed. Ultimate boundedness of obs...
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ISBN:
(纸本)9781467355087;9781467355063
In this paper, the design of a velocity/force observer for robot manipulators in constrained movement is studied. For this purpose, Generalized Proportional Integral Observers are employed. Ultimate boundedness of observation errors is guaranteed, while the ultimate bound can be made arbitrarily small. Simulation results are presented to validate the performance of the proposed approach.
this paper considers the cooperative output regulation problem of linear multi-agent systems with a switched exosystem. the switched exosystem can generate reference signals with different types over time which are mo...
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ISBN:
(纸本)9781538695821
this paper considers the cooperative output regulation problem of linear multi-agent systems with a switched exosystem. the switched exosystem can generate reference signals with different types over time which are more useful in practice. In contrast to the existing state feedback control law, in this paper, an output feedback control law is proposed.
In this paper we demonstrate an improvement in the transient tracking performance when a Support Vector Regression (SVR) is used to identify a nonlinear ARMA plant. We use an on-line version of SVR, and at each instan...
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ISBN:
(纸本)9781424478132
In this paper we demonstrate an improvement in the transient tracking performance when a Support Vector Regression (SVR) is used to identify a nonlinear ARMA plant. We use an on-line version of SVR, and at each instant, the identified model is used to determine the appropriate control law. A further improvement in the transient performance is shown withthe methodology of multiple models, switching, and tuning.
this paper discusses the geometric H-infinity control problem for nonlinear Markovian jump systems. For every jump mode, the appropriate diffeomorphism is established to transform the system into the standard form, th...
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ISBN:
(纸本)9781467355087;9781467355063
this paper discusses the geometric H-infinity control problem for nonlinear Markovian jump systems. For every jump mode, the appropriate diffeomorphism is established to transform the system into the standard form, then the H-infinity control can be designed directly through discussing the minimum-phase property of the system, which has overcomed the difficulty of solving the traditional coupled Hamilton-Jacobi inequalities (HJIs).
In this paper, we will establish the relationship between a specific family of classical control systems and the linear fractional transformations. those classical control systems may always be represented by linear f...
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ISBN:
(纸本)9781424403417
In this paper, we will establish the relationship between a specific family of classical control systems and the linear fractional transformations. those classical control systems may always be represented by linear fractional transformations, and vice versa, subject to certain conditions. A mathematical proof for this relationship is provided.
this paper describes the development of a fully autonomous quadrotor robot of non-trivial mass (greater than 2kg), payload capacity, and computing power (using an ARM (R) processor capable of up to 1400 Dhrystone MIPS...
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ISBN:
(纸本)9781479951994
this paper describes the development of a fully autonomous quadrotor robot of non-trivial mass (greater than 2kg), payload capacity, and computing power (using an ARM (R) processor capable of up to 1400 Dhrystone MIPS). Its successful operation is presented and serves to demonstrate the efficacy of a straightforward control scheme implemented in open source Linux.
We propose a novel approach for transferring evolved control systems from a simulated environment to a real robot. Multiple dynamic simulation systems are simultaneously employed to provide a valid range of simulation...
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ISBN:
(纸本)9781467318723;9781467318716
We propose a novel approach for transferring evolved control systems from a simulated environment to a real robot. Multiple dynamic simulation systems are simultaneously employed to provide a valid range of simulation variance that can be exploited to generate robust controllers in a purely virtual environment. these controllers can then be directly transferred to a physical robot.
In this paper, a consistent kinematic modeling method for mobile manipulators is proposed. We transform the mobile manipulators into conventional manipulators via appropriate change of kinematic structure. Consequentl...
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ISBN:
(纸本)9781424478132
In this paper, a consistent kinematic modeling method for mobile manipulators is proposed. We transform the mobile manipulators into conventional manipulators via appropriate change of kinematic structure. Consequently, analyses of kinematics for mobile manipulators can be conveniently carried out withthe transformed manipulators. Cases of differential-drive and car-like types of mobile platforms are formulated, but theoretically not limited to these.
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