An algorithm is proposed for automation of the prefilter design step of Horowitz's quantitative feedback theory (QFT) to robust feedback system synthesis. The proposed algorithm uses interval global optimization t...
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In this paper a new algorithm for discrete-time sliding mode control using only output samples is proposed. It is shown that the output feedback gain can be directly obtained using the reaching law of discrete-time sl...
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In this paper we present a new algorithm for discrete sliding mode control of linear multivariable systems using fast output sampling feedback. Here we make use of a single switching surface regardless of the number o...
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The aim of this paper is to develop a new method for sliding mode control of a class of discrete-time nonlinear systems that are feedback linearizable. One advantage of this method is that it allows the use of the rec...
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Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on...
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Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding ...
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This paper proposes an arbitrary higher order sliding mode controller for uncertain minimum phase nonlinear systems. The stability proof of the suggested scheme is analyzed in terms of two Lyapunov functions. Using th...
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Goal of the robot vision is to exploit power of visual sensing to observe and perceive the environment and react it. Visual feedback is used to manipulate the robot among objects by estimating their depths. This paper...
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A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same ...
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This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model g...
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This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for thc higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.
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