For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively....
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For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.
An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably...
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An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling ***-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC *** from traditional ETC models,stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering *** paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered *** conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical *** simulations are given to demonstrate the effectiveness of our approach.
The hydraulically driven shaking table has been developed for damping characteristic experiments on shock absorbers in this paper. The damping characteristics and corresponding experiments on the double-tube hydraulic...
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In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model,...
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A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status ...
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In this work, we propose a new scheme to estimate the algebraic connectivity of the graph describing the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The main ...
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A fault-tolerant control (FTC) scheme is proposed based on integral sliding mode(ISM) for attitude control of hypersonic re-entry vehicle (HRV) under partial loss of actuator effectiveness. First, the inner/outer loop...
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This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs....
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As a new emerging integrated navigation technology, the GNSS/INS/VO deep integration system can fully leverage the synergistic and complementary characteristics of the three involved subsystems to achieve cost reducti...
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作者:
Ji, YangSchool of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China
This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address t...
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