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This paper describes structured neural models and a computationally efficient (suboptimal) nonlinear Model Predictive Control (MPC) algorithm based on such models. The structured neural model has the ability to make future predictions of the process without being used recursively. Thanks to the nature of the model, the prediction error is not propagated. This is particularly important in the case of noise and underparameterisation. Structured models have much better long-range prediction accuracy...
The problem of transient hysteresis cycles induced by the pre-sliding kinetic friction is relevant for analyzing the system dynamics, e.g., of micro- and nano-positioning instruments and devices and their controlled operation. The associated energy dissipation and consequent convergence of the state trajectories occur due to the structural hysteresis damping of contact surface asperities during reversals, and it is neither exponential (i.e., viscous type) nor finite-time (i.e., Coulomb type). In...
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 systems...
This paper proposes an online identifier-critic learning framework for event-triggered optimal control of completely unknown nonlinear systems. Unlike classical adaptive dynamic programming (ADP) methods with actor-critic neural networks (NNs), a filter-regression-based approach is developed to reconstruct the unknown system dynamics, and thus avoid the dependence on an accurate system model in the control design loop. Meanwhile, NN adaptive laws are designed for the parameter estimation by using...
The exact internal controllability of the radial solutions of a semilinear heat equation in R3 is proved. The result applies for nonlinearities that are of an order smaller than |s| logp |s| at infinity for 1 ≤ p < 2. The method of the proof combines HUM and a fixed point technique.
The aim of this paper is to extend the classical linear condition concerning diagonal dominant bloc matrix to fully nonlinear equations. Even if assumptions are strong, we obtain an explicit condition which exactly extend the one known in linear case, and the setting allows also to consider bicontinuous operator instead of the schift and as particular case, we receive periodic or almost periodic solutions for discrete time equations.
Exponential stabilization of nonlinear driftless affine control systems
is addressed with the concern of achieving robustness with respect to
imperfect knowledge of the system's control vector fields.
In order to satisfy this robustness requirement, and inspired by
Bennani and Rouchon [1] where the same issue was first addressed, we consider a
control strategy which consists in applying
periodically updated open-loop controls that are continuous
with respect to state initial conditions. These...
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