Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control...
详细信息
In this paper, the solvability of the Inverse Optimal control (IOC) problem based on two existing minimum principal methods, is analysed. The aim of this work is to answer the question regarding what kinds of trajecto...
详细信息
This paper addresses the robust dynamic output feedback (DOF) problem for linear parameter-varying (LPV) discrete-time systems with polynomial dependence of uncertainties. For this purpose, the robust control problem ...
详细信息
In this contribution the design of an indirect adaptive third order sliding mode controller based on a backstepping-like procedure is presented. A recursively defined homogeneous control Lyapunov function is combined ...
详细信息
This study investigates the impact of blade gap angle on spiral axial flow gas–liquid multiphase pump performance. Using five numerical models and the shear stress transport k-omega (SST k-ω) turbulence model, we in...
详细信息
This paper presents a fault-tolerant control scheme for a scale model of a High-Altitude Long Endurance UAV. The aircraft considered in this paper is a scale model glider that has a similar configuration to typical HA...
This paper presents a fault-tolerant control scheme for a scale model of a High-Altitude Long Endurance UAV. The aircraft considered in this paper is a scale model glider that has a similar configuration to typical HALE platforms. The proposed control system was designed using sliding mode and control allocation to handle actuator faults. To evaluate the performance of the system, simulations were conducted using a nonlinear fixed-aerodynamic model. The results are promising, since the control system was able to handle multiple actuator failure cases.
While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems, where robustness to extrapolation/interpolation errors is prioritized over minimizing estim...
详细信息
In this paper, novel parametric identification is addressed by the disturbance observer (DOB) relevant algorithm. To fully utilize the disturbance observer, a proper nominal model, which is a parametric model, is esse...
详细信息
In this paper, we study the relationship between systemscontrolled via control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical systems (PDSs). In particula...
In this paper, we study the relationship between systemscontrolled via control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical systems (PDSs). In particular, under appropriate assumptions, we show that the vector field of CBF-controlled systems is a Krasovskii-like perturbation of the set-valued map of a differential inclusion, that abstracts PDSs. This result provides a novel perspective to analyze and design CBF-based controllers. Specifically, we show how, in certain cases, it can be employed for designing CBF-based controllers that, while imposing safety, preserve asymptotic stability and do not introduce undesired equilibria or limit cycles. Finally, we briefly discuss about how it enables continuous implementations of certain projection-based controllers, that are gaining increasing popularity.
A robust high-precision velocity-regulation controller is researched for gimbal servo systems (GSSs) in this paper, which aims to mitigate the impact of multiple adverse factors, including both the internal time-delay...
详细信息
暂无评论