The paper addresses the problem robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time affine systems. The proposed design method leads to a non-iterati...
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The motion of a multi-body autonomous robot as well as of a train-like multi-articulated transportation vehicle is characterized by the deviation of the path of each intermediate vehicle from that of the leading one (...
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This paper addresses the problem of designing robust output tracking control for strict-feedback nonlinear systems with unknown nonlinear functions and unknown virtual coefficient nonlinear functions using radial basi...
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ISBN:
(纸本)0780372689
This paper addresses the problem of designing robust output tracking control for strict-feedback nonlinear systems with unknown nonlinear functions and unknown virtual coefficient nonlinear functions using radial basis neural networks. By defining desired control, a smooth and singularity-free adaptive controller is firstly designed for a first-order plant. Then, an extension is made to high-order nonlinear systems using neural network approximation, adaptive backstepping techniques and robust control. No upper bounds of unknown virtual coefficient functions are required in this paper. The effects of approximation error and unknown upper bounds of virtual coefficient functions are counteracted by adaptive robust terms. It is shown that under the proposed adaptive control the tracking error of the controlled system converges to a small neighborhood around zero. Simulation examples are given to illustrate the effectiveness of the proposed scheme.
A simple and effective fuzzy clustering approach is presented for fuzzy modeling from industrial data. In this approach, fuzzy clustering is implemented in two phases: data compression by a self-organizing network, an...
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It is possible to prestabilise the predictions used within Predictive Functional control in order to increase the likelihood of a stabilising control design. However, the minimal order approach to prestabilisation is ...
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This paper considers a class of uncertainties with the polynomial function form of perturbation parameters, which is analogous to a fact that part information is known for some uncertainties. A sufficient condition of...
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This paper considers a class of uncertainties with the polynomial function form of perturbation parameters, which is analogous to a fact that part information is known for some uncertainties. A sufficient condition of robust stability is presented, and a method is also provided to estimate the stability bound for plants with the class of uncertainties. In the case of interval plants, this condition reduces to an existing result, which would show indirectly the condition is not too conservative. Methods are ...
In this paper, an active fault tolerant control (FTC) strategy is presented for linear dynamic systems. The robust observer-based fault detection and isolation (FDI) systems are applied to guide the reconfiguration of...
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Different approaches to the solution of the AGV transportation system control are presented in the paper. The first one is based upon the standard Petri nets extended for control. A way of the process control level mo...
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Different approaches to the solution of the AGV transportation system control are presented in the paper. The first one is based upon the standard Petri nets extended for control. A way of the process control level modeling is shown. It is a basis for the control of the AGV system at the coordination level. An outline of the transportation co-ordination algorithm is described. Another approach is via supervisory control combined with a routing optimization algorithm. Then an approach using colored Petri nets is presented. All approaches are compared.
Recent years has seen much progress in the theory and application of iterative learning control schemes for both linear and (classes of) nonlinear dynamics. In the case of the former, many algorithms based on minimizi...
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In this paper, a robust filter for an in-flight alignment (IFA) is presented to effectively eliminate system errors in the case where a strapdown inertial navigation system (SDINS) has large initial attitude errors. F...
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