In this paper, the control design problem for linear systems subject to actuator saturations is considered. A fuzzy gain-scheduling output feedback controller is proposed to guarantee the stability of the closed-loop ...
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In this paper, the control design problem for linear systems subject to actuator saturations is considered. A fuzzy gain-scheduling output feedback controller is proposed to guarantee the stability of the closed-loop system as well as providing disturbance/error attenuation measured in L2 norm. The synthesis condition is cast as a convex optimization problem in terms of linear matrix inequalities (LMIs) and can be solved efficiently. The ball-beam system is used to demonstrate the proposed saturation control approach.
This paper deals with high gain observer design for Lipschitz nonlinear systems. High gain observers are very popular in applications because of their simple implementation with a constant observer gain. In practice, ...
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In this paper, the discrete-time antilinear systems are investigated. Firstly, a closed-form expression for the state response of discrete-time antilinear systems is established. Secondly, the concepts of reachability...
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In this paper, the discrete-time antilinear systems are investigated. Firstly, a closed-form expression for the state response of discrete-time antilinear systems is established. Secondly, the concepts of reachability and controllability are proposed for discrete-time antilinear systems. With the closed-form expression of the state reponse as tools, anti-Gram criteria for reachability are given. In addition, a matrix rank criteria for reachability and controllability is given for time-invariant antilinear systems. In addition, an anti-Lyapnov equation approach is given to check the stability of the time-invariant antilinear systems.
Developing centralized controllers for large-scale systems, e.g. complex chemical processes, electrical power networks, is an important, yet challenging problem. Typically, it would be of advantage if one could divide...
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A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, o...
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This paper proposes a distributed model predictive control (DMPC) method with guaranteed stability for system with control coupled information and coupled constraints among the subsystems, which are described by piece...
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ISBN:
(纸本)9781629939254
This paper proposes a distributed model predictive control (DMPC) method with guaranteed stability for system with control coupled information and coupled constraints among the subsystems, which are described by piecewise affine (PWA) model. According to the condition of control input coefficient matrix of the PWA model, two frameworks are established. The DMPC optimal problem of each subsystem is converted into mixed integer quadratic programming (MIQP) to solve and obtain the control actions. To ensure the stability, equality constraint is applied.
Abstract Flatness based analysis and closed loop control design for networks of hyperbolic p.d.e.'s is considered. To this end a state space description is assigned to the flatness based parametrization of the inp...
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Abstract Flatness based analysis and closed loop control design for networks of hyperbolic p.d.e.'s is considered. To this end a state space description is assigned to the flatness based parametrization of the input trajectories. Stabilization of this system by state feedback is discussed. By means of a state transformation which directly follows from the parametrization of the trajectories of the state variables, this feedback can be given in the original coordinates.
This paper presents a general nonlinear model predictive control (NMPC) scheme for path following problems. Sufficient conditions for recursive feasibility and asymptotic convergence of the given scheme are presented....
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This paper presents a general nonlinear model predictive control (NMPC) scheme for path following problems. Sufficient conditions for recursive feasibility and asymptotic convergence of the given scheme are presented. Furthermore, a method of choosing a suitable terminal penalty and the corresponding terminal constraint is proposed. To illustrate the implementation of the NMPC scheme, the path following problem of a car-like mobile robot is discussed and the control performance is confirmed by simulation results.
The contribution proposes a control architecture, which enables a multi-link-flexible robot arm under gravitational influence to catch multiple balls sequentially thrown by a human. A net at the end-effector is utiliz...
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The contribution proposes a control architecture, which enables a multi-link-flexible robot arm under gravitational influence to catch multiple balls sequentially thrown by a human. A net at the end-effector is utilized to intercept the balls when they pass the vertically oriented robot plane of motion. The ball detection, tracking as well as the prediction of the ball intercept location is based on a wall-mounted Kinect RGB-D sensor. Previously caught balls represent a varying payload, which induces also dynamic disturbances due to the pendulum motion. These disturbances as well as the coupled flexible-link vibrations are damped with a model free independent joint controller. The inverse kinematics approach is based on neural networks and augmented by an online payload estimation.
This paper is concerned with stabilization of a linear system with distributed input delay and input saturation. Both constant and time-varying delays are considered. In the case that the input delay is constant, unde...
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