The extension of the backstepping-based state observer design is considered for general periodic quasi-linear parabolic PDEs in one space dimension. Here, the extended linearization combined with a suitable coordinate...
The extension of the backstepping-based state observer design is considered for general periodic quasi-linear parabolic PDEs in one space dimension. Here, the extended linearization combined with a suitable coordinate and state transformation is employed. This allows for the application of the backstepping method for the determination of an extended Luenberger observer with observer gains entering the PDE and the boundary condition which ensures an exponential decay of the linearized observer error dynamics. This is confirmed analytically, while the convergence of the quasi-linear observer error system is studied in numerical simulations.
This paper represents the elements and the use of the upgraded simulation system, developed in the last half decade for Štore Steel billet caster. The simulation system is used in the context of the state-of-the-art a...
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The problem of controller synthesis in a fixed time interval for discrete-time switching Markov jump systems is dealt with in this paper. Compared with the existing results, the new proposed stabilization conditions a...
The problem of controller synthesis in a fixed time interval for discrete-time switching Markov jump systems is dealt with in this paper. Compared with the existing results, the new proposed stabilization conditions are obtained by permitting the stochastic Lyapunov energy function to rise at each switching instant, but the switching signal is constraint by an average dwell time. Finally, the validity of the obtained results is demonstrated with an example.
This paper aims to generalize the loop interaction measurement, relative normalized gain array (RNGA), for multivariable systems regarding a class of reference inputs. In the existing studies, RNGA loop pairing criter...
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This paper aims to generalize the loop interaction measurement, relative normalized gain array (RNGA), for multivariable systems regarding a class of reference inputs. In the existing studies, RNGA loop pairing criterion is analyzed and widely utilized on the basis of detailed assumption of step reference input. For multivariable systems under step, ramp and other general types of set-point changes, the general loop pairing technique is put forward, and the average residence time is calculated in terms of first order plus delay time and second order plus delay time processes. The analysis results show RNGA based control-loop configuration is independent of input signals, and available to multivariable systems for various reference inputs. Several examples are employed to demonstrate the effectiveness and universality of the pairing approach of this paper.
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.
To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make th...
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To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results.
Nonlinear system identification requires informative data obtained from experiments in order to parameterise a model of the underlying process. As an example for the automotive industry, good models for NOx and smoke ...
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In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dyn...
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ISBN:
(纸本)9781479932757
In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight is taken into account by using the robust bounded terms in the controller design. The asymptotic convergence of the tracking error is guaranteed with the Lyapunov-based stability analysis.
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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