Numerically generated path stabilizing controllers: Use of preliminary feedback
Dirk von Wissel, Ramine Nikoukhah, François Delebecque, Stephen L. Campbell (1995)
Kybernetika
Similarity:
Dirk von Wissel, Ramine Nikoukhah, François Delebecque, Stephen L. Campbell (1995)
Kybernetika
Similarity:
Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)
Kybernetika
Similarity:
The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...
Sergej Čelikovský, Javier Ruiz, A. J. Sapiens, Jorge A. Torres Muñoz (2003)
Kybernetika
Similarity:
The paper deals with the construction of the output feedback controllers for the systems that are transformable into a simpler form via coordinate change and static state feedback and, at the same time, via (possibly different) coordinate change and output injection. Illustrative examples are provided to stress the major obstacles in applying the above scheme, especially as far as its global aspects are concerned. The corresponding results are then applied to the problem of the real-time...
Mohammed Chenafa, Abdellah Mansouri, Abderrahmane Bouhenna, Eric Etien, Abdelkader Belaidi, Mouloud Denai (2005)
International Journal of Applied Mathematics and Computer Science
Similarity:
This paper mainly deals with the design of an advanced control law with an observer for a special class of nonlinear systems. We design an observer with a gain as a function of speed. We study the solution to the output feedback torque and rotor flux-tracking problem for an induction motor model given in the natural frame. We propose a new robust nonlinear observer and prove the global stability of the interlaced controller-observer system. The control algorithm is studied through simulations...
Jianglin Lan, Weijie Sun, Yunjian Peng (2014)
Kybernetika
Similarity:
This paper studies the constrained robust adaptive stabilization problem for a class of lower triangular systems with unknown control direction. A robust adaptive feedback control law for the systems is proposed by incorporating the technique of Barrier Lyapunov Function with Nussbaum gain. Such a controlled system arises from the study of the constrained robust output regulation problem for a class of output feedback systems with the unknown control direction and a nonlinear exosystem....
Przemysław Orłowski (2007)
International Journal of Applied Mathematics and Computer Science
Similarity:
Numerical evaluation of the optimal nonlinear robust control requires estimating the impact of parameter uncertainties on the system output. The main goal of the paper is to propose a method for estimating the norm of an output trajectory deviation from the nominal trajectory for nonlinear uncertain, discrete-time systems. The measure of the deviation allows us to evaluate the robustness of any designed controller. The first part of the paper concerns uncertainty modelling for nonlinear...
Zhibao Song, Junyong Zhai, Hui Ye (2017)
Kybernetika
Similarity:
In this paper, we investigate the problem of global output-feedback regulation for a class of switched nonlinear systems with unknown linear growth condition and uncertain output function. Based on the backstepping method, an adaptive output-feedback controller is designed to guarantee that the state of the switched nonlinear system can be globally regulated to the origin while maintaining global boundedness of the resulting closed-loop switched system under arbitrary switchings. A numerical...