The control design problem for LTI SISO discrete time system is considered. The controller that minimizes the load sensitivity function H∞ norm, subject to such requirements for the system quality as the stability ma...
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Using a mathematical model of a quadrotor, the Euler angle dynamics equations are analyzed to obtain a linear regression that describes the plant parametric uncertainty. Based on this representation, model reference a...
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The scope of this research is to develop a model reference adaptivecontrol system of a quadrotor attitude. Unlike many known papers, the plant parametric uncertainties are taken into consideration, and their explicit...
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The problem of linear-quadratic regulator design, where a state feedback is supplemented by integral action, is considered. The regulator structure includes a derivative of control to reduce the impact of measurement ...
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The problems of trolley position tracking and stabilization of the suspended load are solved simultaneously for an overhead crane. The model of the trolley-pendulum system is derived. To solve the problem under consid...
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Using a mathematical model of a quadrotor, the Euler angle dynamics equations are analyzed to obtain a linear regression that describes the plant parametric uncertainty. Based on this representation, model reference a...
Using a mathematical model of a quadrotor, the Euler angle dynamics equations are analyzed to obtain a linear regression that describes the plant parametric uncertainty. Based on this representation, model reference adaptivecontrolsystems with both adjustable baseline controller and uncertainty compensator based on (i) a linear regression and (ii) a neural network are designed. Asymptotic stability of the augmented tracking error is proved for both systems. The results of numerical experiments demonstrate that the neural-network-based compensator, in contrast to the linear-regression-based one, copes with the matched uncertainty that is not included in the original description of the plant.
We consider the problem of an underactuated 2D overhead crane control, which includes actuated trolley positioning and unactuated payload swing compensation, in the presence of uncertain disturbances. Firstly, two coo...
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ISBN:
(数字)9798331532178
ISBN:
(纸本)9798331532185
We consider the problem of an underactuated 2D overhead crane control, which includes actuated trolley positioning and unactuated payload swing compensation, in the presence of uncertain disturbances. Firstly, two coordinate transformations are applied successively and some non-restrictive assumptions are adopted to represent the original system in the feedback linearizable form. Then robustcontroller for the trolley positioning and payload stabilization is designed on the basis of the filtering-based disturbance estimator. The tracking error exponential convergence to an adjustable compact set is proved through rigorous analysis. It is also shown that at the parametrization stage the system parametric uncertainty can be included into the disturbance description, therefore, unlike many known solutions without high gain and sliding mode control techniques, the proposed approach is applicable in case when not only the perturbation, but also the system parameters are unknown. All theoretical results are validated via numerical simulation.
A novel method of an adaptive linear quadratic (LQ) regulation of uncertain continuous linear time-invariant systems is proposed. Such an approach is based on the direct self-tuning regulators design framework and the...
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The scope of this research is the identification of unknown piecewise constant parameters of linear regression equation under the finite excitation condition. Compared to the known methods, to make the computational b...
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The problems of trolley position tracking and stabilization of the suspended load are solved simultaneously for an overhead crane. The model of the trolley-pendulum system is derived. To solve the problem under consid...
The problems of trolley position tracking and stabilization of the suspended load are solved simultaneously for an overhead crane. The model of the trolley-pendulum system is derived. To solve the problem under consideration, a nonlinear control law is designed using the second Lyapunov method, which guarantees asymptotic stability of the control error. The derived law is validated via numerical experiments. The obtained results corroborate the effectiveness of the proposed solution.
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