相关论文: Adaptive fuzzy control of electrohydraulic servosy…
In this paper, we present Lyapunov-based adaptive controllers for the practical (or real) stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as Adaptive Higher Order Sliding Mode…
The use of conventional actuators in robotic systems (electric motors in particular), while often offering advantages in terms of flexibility and controllability, suffer from primary actuator failure,due to unexpected complexities in their…
We report on recent work on adaptive timestep control for weakly instationary gas flows [16, 18, 17] carried out within SFB 401, TPA3. The method which we implement and extend is a space-time splitting of adjoint error representations for…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
In this paper, a robust adaptive backstepping-based controller is developed for positioning the spool valve of Electro-Hydraulic Servo System (EHSS) with parameter fluctuations. Artificial Bee Colony (ABC) algorithm is utilized to drive the…
This technical note is concerned with boundary stabilization of multi-dimensional discrete-velocity kinetic models. By exploiting a certain stability structure of the models and adapting an appropriate Lyapunov functional, we derive…
As a model is only an abstraction of the real system, unmodeled dynamics, parameter variations, and disturbances can result in poor performance of a conventional controller based on this model. In such cases, a conventional controller…
The paper deals with output feedback stabilization of exponentially stable systems by an integral controller. We propose appropriate Lyapunov functionals to prove exponential stability of the closed-loop system. An example of parabolic PDE…
The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…
Hybrid systems combine both discrete and continuous state dynamics. Power electronic inverters are inherently hybrid systems: they are controlled via discrete-valued switching inputs which determine the evolution of the continuous-valued…
We present a method for incremental modeling and time-varying control of unknown nonlinear systems. The method combines elements of evolving intelligence, granular machine learning, and multi-variable control. We propose a State-Space…
We survey results of recent activity towards studying controllability and accessibility issues for equations of dynamics of incompressible fluids controlled by low-dimensional or, degenerate, forcing. New results concerning controllability…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Most of nonlinear robust control methods just consider the affine nonlinear nominal model. When the nominal model is assumed to be affine nonlinear, available information about existing non-affine nonlinearities is ignored. For non-affine…