In this paper, new Lyapunov-based reset rules are constructed to improve C2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and fini...
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As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. Ho...
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In this paper, we present a new adaptive backstepping control design method to solve the overparametrization problem in parameter estimation. Unlike the existing schemes, the concept of tuning functions is not ***, th...
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In this paper, we present a new adaptive backstepping control design method to solve the overparametrization problem in parameter estimation. Unlike the existing schemes, the concept of tuning functions is not ***, the number of parameter estimates is reduced to be minimal, which is exactly the same as that of unknown parameters. The parametric strict-feedback system is employed to illustrate our design procedure.
In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle(UAV) is presented via Immersion and Invariance(I&I) approach. The quadrotor's dynamic model is subjected to some uncertain param...
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ISBN:
(纸本)9781479947249
In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle(UAV) is presented via Immersion and Invariance(I&I) approach. The quadrotor's dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also *** all these uncertainties above, the proposed adaptive controller is still capable of driving the quadrotor UAV's attitude asymptotically to a desired trajectory. The stability analysis is performed by Lyapunov techniques and LaSalle's invariance theorem. Numerical simulation results illustrate the good tracking performance of the proposed scheme.
This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control...
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This paper considers using reset control to improve transient performance and overcome some fundamental limitations of linear systems. First, an auxiliary system is presented, then, based on which, a new reset control model is proposed, such that the non-overshoot performance specification can be met for any minimum phase relative degree one plants, the results imply some limitations of linear systems are overcome and clearly illustrate the advantages of reset control. A numerical example is given to show the effectiveness.
This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal pe...
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This paper deals with the finite-time stability and stabilization for continuous-time linear stochastic time-varying systems. Several necessary and sufficient conditions and a sufficient condition for finite-time stab...
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This paper deals with the finite-time stability and stabilization for continuous-time linear stochastic time-varying systems. Several necessary and sufficient conditions and a sufficient condition for finite-time stability are derived. Moreover,a sufficient condition for the existence of state feedback controller is given. Such results involve the feasibility problems of differential linear matrix inequalities with terminal constraint.
In network-based iterative learning control (ILC) systems, intermittent measurement often occurs during the data packet transfers from the remote plant to the ILC controller. In this paper, measurement missing is mode...
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In network-based iterative learning control (ILC) systems, intermittent measurement often occurs during the data packet transfers from the remote plant to the ILC controller. In this paper, measurement missing is modeled by stochastic variables satisfying the Bernoulli random binary distribution, and then the design of ILC law is transformed into a feedback control problem of a 2D stochastic system described by Roesser model. A sufficient condition for mean-square asymptotic stability is established by means of linear matrix inequality (LMI) technique, and formulas can be given for the control law design simultaneously. A numerical example illustrates the effectiveness of the proposed results.
Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommo...
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In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadro...
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In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.
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