4,011 research outputs found
Asymptotic Tracking Control of Uncertain MIMO Nonlinear Systems with Less Conservative Controllability Conditions
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is
nontrivial to achieve asymptotic tracking, and most existing methods normally
demand certain controllability conditions that are rather restrictive or even
impractical if unexpected actuator faults are involved. In this note, we
present a method capable of achieving zero-error steady-state tracking with
less conservative (more practical) controllability condition. By incorporating
a novel Nussbaum gain technique and some positive integrable function into the
control design, we develop a robust adaptive asymptotic tracking control scheme
for the system with time-varying control gain being unknown its magnitude and
direction. By resorting to the existence of some feasible auxiliary matrix, the
current state-of-art controllability condition is further relaxed, which
enlarges the class of systems that can be considered in the proposed control
scheme. All the closed-loop signals are ensured to be globally ultimately
uniformly bounded. Moreover, such control methodology is further extended to
the case involving intermittent actuator faults, with application to robotic
systems. Finally, simulation studies are carried out to demonstrate the
effectiveness and flexibility of this method
Adaptive ββ-control for nonlinear systems: a dissipation theoretical approach
The adaptive ββ-control problem for parameter-dependent nonlinear systems with full information feedback is considered. The techniques from dissipation theory as well as the vector and parameter projection methods are used to derive the adaptive ββ-control laws. Both of the projection techniques are rigorously treated. The adaptive robust stabilization for nonlinear systems with β2-gain hounded uncertainties is investigated
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Stability analysis and observer design for neutral delay systems
Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper deals with the observer design problem for a class of linear delay systems of the neutral-type. The problem addressed is that of designing a full-order observer that guarantees the exponential stability of the error dynamic system. An effective algebraic matrix equation approach is developed to solve this problem. In particular, both the observer analysis and design problems are investigated. By using the singular value decomposition technique and the generalized inverse theory, sufficient conditions for a neutral-type delay system to be exponentially stable are first established. Then, an explicit expression of the desired observers is derived in terms of some free parameters. Furthermore, an illustrative example is used to demonstrate the validity of the proposed design procedur
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