Research Article Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems
|
|
- Mark Benson
- 5 years ago
- Views:
Transcription
1 Hinawi Publishing Corporation Mathematical Problems in Engineering Volume 23, Article ID 73494, 7 pages Research Article Fuzzy Sliing Moe Controller Design Using Takagi-Sugeno Moelle Nonlinear Systems S Bououen, M Chali, 2 an H R Karimi 3 Laboratoire Automatique et e Robotique, Université e Constantine, Route Ain El Bey, Constantine, Algeria 2 MIS (EA 429), University o Picarie Jules Verne, 33 rue Saint-Leu, 839 Amiens, France 3 Department o Engineering, Faculty o Engineering an Science, University o Ager, 4898 Grimsta, Norway Corresponence shoul be aresse to M Chali; mohammechali@u-picarier Receive 4 September 22; Accepte 4 October 22 Acaemic Eitor: Peng Shi Copyright 23 S Bououen et al This is an open access article istribute uner the Creative Commons Attribution License, which permits unrestricte use, istribution, an reprouction in any meium, provie the original work is properly cite Aaptive uzzy sliing moe controller or a class o uncertain nonlinear systems is propose in this paper The unknown system ynamics an upper bouns o the minimum approximation errors are aaptively upate with stabilizing aaptive laws The close-loop system riven by the propose controllers is shown to be stable with all the aaptation parameters being boune The perormance an stability o the propose control system are achieve analytically using the Lyapunov stability theory Simulations show that the propose controller perorms well an exhibits goo perormance Introuction Recent research on uzzy logic control has, thereore, been evote to moel base uzzy control systems that guarantee not only stability, but also perormance o close-loop uzzy control systems [ 6] For a systematic control esign o nonlinear systems, the Takagi-Sugeno (T-S) uzzy moel [4, 5, 7 2]hasbeenapopularchoiceininustrialprocessesue to its ability to represent the nonlinear system only or inputoutput ata without complex mathematical equations In an eort to improve the robustness o the aaptive uzzy control system, many works have been publishe on the esign o aaptive uzzy sliing moe controller [3 8], which integrates the sliing moe controller [6, 9 23] esign technique into the aaptive uzzy control to improve the stability an the robustness o the control system Conventionally, aaptive uzzy sliing control systems (AFSCSs) esign is base on the assumption that the system states are available or measurement, so the aaptive laws o AFSCS are ormulate as unctions o the tracking error o the system [2, 24 27] However, some problems on the algorithm convergence an conitions stabilities remain with no response To resolve this problem, irst is the nee or accurate inormation on the evolution o the system in the state space, upper bouns o uncertainties an isturbances The secon is the knowlege o the upper boun o the minimum approximation error We know that the uncertain nature o nonlinear systems makes it iicult to have an analytical escription o the ynamics o thesystemmoreover,theknowlegeotheupperbouno the minimum approximation error leaves the control law still restrictive In the urther stuy involving a perturbe largescale system with a time-varying interconnection, an aaptive algorithm or estimating an uncertain upper boun base on a variable sliing control rame was propose in [28] In this note, base on the variable surace, a uzzy sliing moel controller is evelope or guaranteeing the tracking perormance, in particular, time-varying uncertain parameters are approximate by uzzy system, an the aaptive sliing moe control is esigne so as to compensate or any unknown reconstruction error, through parameter aaptation law In this way, the actual system can ollow the reerence signal even in the event o a har nonlinearity, an uzzy sliing moe control gives the unknown upper boun o uncertainties that are aaptively upate with stabilizing aaptive laws It is prove that the close-loop system is
2 2 Mathematical Problems in Engineering globally stable in the Lyapunov sense i the signals involve arebouneanthesystemoutputcantracktheesire reerence input asymptotically This paper is organize as ollows: some preliminaries areprovieinsection 2 Following the introuction, the uzzy logic system is reviewe briely in Section 3 The esign an stability analysis or the propose aaptive uzzy sliing moe controller is inclue in Section 4 Simulation examples to emonstrate the perormance o the propose metho are provie in Section 5 Finally,inSection 6, we give a brie conclusion 2 Preliminaries Consier the nth-orer nonlinear ynamical system o the orm: x n =(x) +g(x) u+ s, y=x, where x = [x, x,,x n ] T = [x,x 2,,x n ] T R n isvectorothesystemthatisassumetobeavailableor measurements, an g are unknown but boune nonlinear unctions, u Ran y Rcontrol input an output o the system, respectively, an s is external isturbance As system () is require to be controllable, the nonzero conition o input gain g(x) =is necessary The system ()canberewrittenintheollowingorm: = g (x) x n +g (x) (x) +u+g (x) s (2) By aing x n to both sies, we get x n =x n g (x) x n +g (x) (x) +u+g (x) s (3) Equation (3)canberewrittenas such that () x n =F(x) +u+(x) (4) F (x) =( g (x))x n +g (x) (x), (x) =g (x) s Assumption (see [29, 3]) Assume that (x), g(x), an s satisy (x) μ <, <g min g(x) g max <,an κ,respectively,orallx U x R n Where μ, g min, g max,anκ are known constants The control problem is to orce the system output y to ollow a given boune reerence signal y Deine the tracking error as (5) e=y y (6) 3 Takagi-Sugeno (T-S) Fuzzy Moel Fuzzy logic systems aress the imprecision o the input an output variables irectly by eining them with uzzy numbers (an uzzy sets) that can be expresse in linguistic terms The basic coniguration o the Takagi an Sugeno [5, 8, 3] system inclues a rule base, which consists o a collection o uzzy IF-THEN rules in the ollowing orm: Plant Rule r: IF x is B r an an x n is B r n, THEN y r =a r +ar x + +a r n x n =θ T r x, (7) where B r i are uzzy sets an θt r =[ar,ar,,ar n ] is a vector o the ajustable actors on the consequence part o the uzzy rule, an the input vector x = [,x,,x n ] R n Let i =,2,,n enote the number o input or uzzy logic system, an let r=,2,,menote the number o the uzzy IF-THEN rules By using the singleton uzziication, prouct inerence an centre average euzzication, the output value o the uzzy system is y (x) = m r= yr ( n μ Bi r (x i )) m r= ( n μ Bi r (x i )), (8) where μ B r i (x i ) is the membership unction value o the uzzy variable x i an n μ Bi r(x i) is the true value o the rth implication Equation (8)canberewrittenas y (x) =θ T ξ (x), (9) where θ T =[θ T,θT 2,,θ m] is an ajustable parameter vector, ξ(x) T =[ξ (x),,ξ m (x)] is a uzzy basis unction vector in which, ξ r (x), r=,2,,m, n ξ r (x) = μ Bi r (x i ) m r= n μ Bi r (x i ) () The aorementione uzzy system has been shown to be capable o universally approximating well-eine unctions over a compact set to arbitrary egree o accuracy For smooth nonlinear unctions F(x), (x), theycanbeapproximateby F (x) =θ T Ψ (x) +ε, () (x) =θ T Ξ (x) +σ, where ε an σ are the uzzy approximations an θ,anθ are optimal weight vectors An whose estimates are given by F( x θ )= θ T Ψ (x), 4 Aaptive Fuzzy Sliing Moe Controller Design ( x θ )= θ T Ξ (x) (2) In this section, a systematic methoology is presente or the esign o stable aaptive uzzy sliing moe controller,
3 Mathematical Problems in Engineering 3 the control law an the weight aaptation rules are evelope, guaranteeing the uniorm ultimate bouneness o the tracking error with respect to an arbitrary small set aroun the origin Aitionally, the bouneness o all signals involve in the close-loop coniguration is ensure The resetting scheme is introuce, perorming on the weight estimates θ, θ to guarantee the valiity o the control law I we consier the system given by (4), the sliing surace canbeeineby S=a n e+ +a e n 2 +e n (3) The elements o the sliing surace are chosen such that the polynomial a n p n +a n 2 p n 2 + +a is strictly Hurwitz [32](here p enotes the complex Laplace transorm variable) We propose to choose a as ollows[33]: M i a i = en i +η ;,,n, (4) i where M i is a given positive scalar, an η i is positive constant low value Note that M/η represents the slope o sliing along the suracewhenitisreachebythesystem By using the tracking error eine by (6), the time erivative o (3)is n S= S=y n n yn + a n i e i + a n i e i + n a n i e i +e n, n a n i e i =y n n F(x) u (x) + a n i e i + =y n F(x) u (x) + Ae, n a n i e i (5) where n is the nth erivative o the system, an A = [ a n,a n, a n 2,, a,a ], e =[e,,e n 3 ;e n 2,e n 2 ;e n ] T Assumption 2 Let x belong to a compact set Ω x Theoptimal weight vectors θ an θ are eine as θ θ = arg min [ sup [F ( x ) F(x)]], θ Ω x Ω x θ = arg min [ sup [ ( x θ ) (x)]] θ Ω x Ω x (6) An eine the constraint sets that the parameters concerne belong to Ω ={θ θ M }, Ω ={θ θ M }, where M an M g are esign parameters (7) We assume that θ, θ,anx never reach the bounaries Ω, Ω,anΩ x We can eine the minimum approximation errors as ε=f(x) F ( x θ ), σ=(x) ( x θ ) (8) It is assume that minimum approximation errors are boune or all x Ω x : ε ε, σ σ, x Ω x (9) The upper boun ε, σ can be reuce arbitrarily But this choice is not always easy, that is our aim in this work to estimate them by aaptive laws, which guarantee the stability o the close loop system The role o the uzzy systems F(x/ θ ) an (x/ θ ) is to represent the unknown unctions using the input-output measurement o the target system Also, a corrective controller is eine to guarantee the stability o the close-loop control system an compensate the approximation errors A irect aaptive control law can be chosen as u=( F( x ) + ( x θ ) +y n θ +λ+ae+ ε+ σ) sgn (S), (2) where λ is a strictly positive constant, an ε, σ are estimates o ε, σ,an { i S> sgn (S) = { i S= { i S< (2) Theorem Consier the nonlinear system escribe by (4), an suppose that Assumptions an 2 are satisie The control law is provie by (2), an the parameters aaptation laws are given by θ =γ Ψ (x) S, θ =γ Ξ (x) S, ε =Sγε, σ =Sγ σ (22) Then, the esire tracking perormance can be achieve as S becomes asymptotically stable an all aaptation parameters remain boune
4 4 Mathematical Problems in Engineering Proo Taking into account the minimum approximation errors (8) an control law(2), the sliing surace (5) can be rewritten as S=y n ( F( x ) + ( x θ ) θ +y n +l+ae + e+ s) sgn (S) F(x) (x) + Ae (23) Deining the parameters errors = θ θ, = θ θ We choose the Lyapunov unction caniate as ollows: V= 2 S2 + 2γ θ T θ + 2γ θ T θ + 2γ e e 2 + 2γ s s 2 ε =ε ε, σ =σ σ, (24) where γ, γ, γ ε,anγ σ are positive constants The time erivative o (24) can be obtaine as ollows: + T γ + T γ + ε ε+ σ σ γ ε γ σ = λ S S F( x ) S ( x θ ) S θ ε S σ S(F( x θ )+ε) S(( x θ )+σ)+ T γ + T γ + ε ε+ σ σ γ ε γ σ λ S S F( x ) S ( x θ ) S ε S σ θ + S F( x ) S ( x θ ) θ S Ψ (x) S Ξ (x) + S ε+ S σ+ T γ V=S S+ T γ + T γ + ε ε+ σ σ γ ε γ σ =S(y n F(x) ( F( x ) + ( x θ ) +y n θ +λ+ae + ε+ σ) sgn (S) (x) + Ae) + T γ + ε ε+ σ σ γ ε γ σ = λ S S Ψ (x) S Ξ (x) + S ε+ S σ + T γ + T γ + ε ε+ σ σ γ ε γ σ = λ S + T ( SΨ (x) + γ ) + T γ + T γ + ε ε+ σ σ γ ε γ σ S Ae + S y n S( F( x ) + ( x θ ) + y θ +λ + Ae+ ε+ σ) sgn (S) SF(x) S(x) + T γ + T γ + ε ε+ σ σ γ ε γ σ = λ S S F( x ) S ( x θ ) S θ ε S σ SF(x) S(x) + T ( SΞ (x) u+ γ ) + ε(s+ γ ε ε) + σ(s+ γ σ) Choosing a uzzy rule aaptive metho as =γ Ψ (x) S, g =γ Ξ (x) S, ε = Sγε, σ = Sγ σ (25) (26)
5 Mathematical Problems in Engineering 5 or equivalently, by einition θ =γ Ψ (x) S, x θ g =γ Ξ (x) S, ε =Sγε, (27) σ =Sγ σ yiels Figure : Robot arm V= λ S (28) Integrating both sies o (28), we have Vt (/2) S t, an thus, the ollowing equation hols: S t 2 (V () V( )) (29) As V() is boune an also V( ) V() rom (28), S t is also boune rom (29) Using Barbalat s lemma, [9, 34] S or t From the moment where the sliing surace is esigne an constructe to be attractive, we can also see that lim t e= Thereore, the close-loop system is asymptotically stable an the position tracking objective is achieve Themoiieprojectionaaptivelawsaregivenin[7] 5 Simulation Example We illustrate the valiity o the esign approach by an example o robot arm tracking control with a single egree o reeom as Figure shows The ynamic equations o such a system are given by where x (3) =(x) +g(x) u+, y=x, (3) (x) = r L x 3 ( g l cos (x )+ K bn 2 K t Lml 2 )x 2 rg Ll sin (x ), g (x) = K tn Lml 2, x =[x,x 2,x 3 ] T, (3) where x is the angular position (ra), x 2 is the angular velocity (ra/s), x 3 is the angular acceleration (ra/s 2 ), u(t) is the applie orce (control signal) (N), an is the external isturbance The simulation parameters are given in Table Accoring to (3), we choose the sliing surace as S= e (2) +a 2 e () +a e The ollowing parameters are chosen so that Table : Simulation parameters Mass o the pole m=5kg The hal-length o the pole l = 5 m The acceleration ue to gravity G = 98 Resistance r = 5 Inuctance L = 5 Electromotive orce constant K b = 2 Constant torque motor K t = 3 Reuction ratio N=6 the characteristic unction o the surace is the negative real part M =8, η =, M 2 =5 η 2 = (32) To construct two uzzy logic systems, F(x/ θ ) an (x/ θ ) as given in (2), the initial consequent parameters o uzzy rules are chosen ranomly in the interval [ 2, 2] The initial values o x are given as [ ] T This interval will be suiciently covere by three membership unctions or position, velocity, an angular acceleration Then, we have 27 rules Let the learning rate γ = 5, γ =2, γ ε =, γ σ = 5, k =6,anM=4 The control objective is to maintain the system to track the esire angle trajectory, y = sin(t), an to test the propose control, we introuce parametric variations an external isturbances given by Δm = sin(x), = 25 sin(2t), respectively Figures 2 5 show the simulation results obtaine in the case where the system is subjecte to external isturbances an parametric variations Figures 2, 3, an4 show the rapi convergence o the system output to the reerence signal In Figure 5, wecanseethatthecontrolsignalissmoothan that the actual an esire trajectories are superpose, ater a short transitional arrangement whereby the error is signiicant between the two outputs, this is ue to isturbances, initial conitions, an initialization o ajustable parameters Figures 2 4 show that the eect o parametric perturbations is negligible, with less stress to the control level espite greater external isturbances Similarly, the results obtaine in [35]showthatthetrackingerrorisabout8%whereasitis less than 2, 5% in our case
6 6 Mathematical Problems in Engineering y x ÿ x 3 Figure 2: Trajectories o the state x (t) o tracking control o the esire y (t) or the robot arms Figure 4: Trajectories o the state x 3 (t) o tracking control o the esire y (t) or the robot arm ẏ x 2 Figure 3: Trajectories o the state x 2 (t) o tracking control o the esire y (t) or the robot arm ItcanbeseeninFigures2 5 that the avantage o our controller is its ability to eliminate the eect o luctuations in the transient response with less eort on the control law; moreover, an estimation o the upper boun o error is perorme without neeing their prior knowlege, which allows the control law to be less restrictive regaring the conitions o stability 6 Conclusion In this paper, the output tracking control problem has been consiere or a class o uncertain nonlinear systems The unknown unctions in systems are not linearly parameterize anhavenoaprioriknowlegeothebouneunctions Fuzzy logic systems are use to approximate these unknown nonlinear unctions By sliing moe esign technique, the Figure 5: Trajectories o the control input u(t) o the tracking control or robot arm aaptive uzzy tracking control scheme has been evelope or nonlinear systems The propose controllers guarantee that the outputs o the close-loop system ollow the reerence signals, an achieve uniorm ultimate bouneness o all the signals in the close-loop system It is prove in theory an showninsimulationthattheclose-loopsystemisstable an the output tracks the given reerence signal satisactorily Future work will eal with the elay systems in the type 2 uzzy systems taking into account uncertainties an a novel nonlinearity sliing moe surace an an application to a real process Reerences [] S Bououen, S Filali, an K Kemih, Aaptive uzzy tracking control or unknown nonlinear systems, International Journal o Innovative Computing, Inormation an Control,vol6,no2, pp54 549,2
7 Mathematical Problems in Engineering 7 [2] M Chali an A El Hajjaji, observer-base robust uzzy control o nonlinear systems with parametric uncertainties, Fuzzy Sets an Systems,vol57,no9,pp276 28,26 [3] M Chali, On the stability analysis o uncertain uzzy moels, International Journal o Fuzzy Systems,vol8,no4,pp224 23, 26 [4] YJLiu,WWang,SCTong,anYSLiu, Robustaaptive tracking control or nonlinear systems base on bouns o uzzy approximation parameters, IEEE Transactions on Systems, Man, an Cybernetics A,vol4,no,pp7 84,2 [5] K Tanaka, H Ohtake, an H O Wang, A escriptor system approach to uzzy control system esign via uzzy Lyapunov unctions, IEEE Transactions on Fuzzy Systems, vol5,no3, pp , 27 [6]LWu,XSu,PShi,anJQiu, Moelapproximationor iscrete-time state-elay systems in the TS uzzy ramework, IEEE Transactions on Fuzzy Systems,vol9,no2,pp , 2 [7] Y C Chang, Robust tracking control or nonlinear MIMO systems via uzzy approaches, Automatica, vol 36, no, pp , 2 [8]YHChien,WYWang,YGLeu,anTTLee, Robust aaptive controller esign or a class o uncertain nonlinear systems using online T-S uzzy-neural moeling approach, IEEE Transactions on Systems, Man, an Cybernetics B, vol4, no 2, pp , 2 [9] M Krstic, I Kanellakopoulos, an P Koktovic, Nolinear an Aaptive Control, Wiley, New York, NY, USA, 995 [] XZhang,CWang,DLi,XZhou,anDYang, Robuststability o impulsive Takagi-Sugeno uzzy systems with parametric uncertainties, Inormation Sciences, vol 8, no 23, pp , 2 [] R Yang, Z Zhang, an P Shi, Exponential stability on stochastic neural networks with iscrete interval an istribute elays, IEEE Transactions on Neural Networks,vol2,no,pp 69 75, 2 [2] L Wu, X Su, P Shi, an J Qiu, A new approach to stability analysis an stabilization o iscrete-time T-S uzzy timevarying elay systems, IEEE Transactions on Systems, Man, an Cybernetics B,vol4,no,pp ,2 [3] S Islam an X P Liu, Robust sliing moe control or robot manipulators, IEEE Transactions on Inustrial Electronics,vol 58, no 6, pp , 2 [4] C C Kung an T H Chen, Observer-base inirect aaptive uzzy sliing moe control with state variable ilters or unknown nonlinear ynamical systems, Fuzzy Sets an Systems,vol55,no2,pp292 38,25 [5] T C Kuo, Y J Huang, an S H Chang, Sliing moe control with sel-tuning law or uncertain nonlinear systems, ISA Transactions,vol47,no2,pp7 78,28 [6] T R Oliveira, A J Peixoto, an L Hsu, Sliing moe control o uncertain multivariable nonlinear systems with unknown control irection via switching an monitoring unction, IEEE Transactions on Automatic Control,vol55,no4,pp28 34, 2 [7] V I Utkin, Sliing Moes an Their Application in Variable Structure Systems, MIR Publishers, Moscow, Russia, 978 [8]WYWang,MLChan,CCJHsu,anTTLee, H tracking-base sliing moe control or uncertain nonlinear systems via an aaptive uzzy-neural approach, IEEE Transactions on Systems, Man, an Cybernetics B,vol32,no4,pp , 22 [9] J Fei an C Batur, A novel aaptive sliing moe control with application to MEMS gyroscope, ISA Transactions,vol48, no, pp 73 78, 29 [2] Y J Huang, T C Kuo, an S H Chang, Aaptive sliing-moe control or nonlinear systems with uncertain parameters, IEEE Transactions on Systems, Man, an Cybernetics B,vol38,no2, pp , 28 [2] V Nekoukar an A Eranian, Aaptive uzzy terminal sliing moe control or a class o MIMO uncertain nonlinear systems, Fuzzy Sets an Systems,vol79,no,pp34 49,2 [22] Z Xi, G Feng, an T Hesketh, Piecewise integral sliingmoe control or TS uzzy systems, IEEE Transactions on Fuzzy Systems,vol9,no,pp65 74,2 [23] M Yue, W Sun, an P Hu, Sliing moe robust control or two-wheele mobile robot with lower center o gravity, International Journal o Innovative Computing, Inormation an Control,vol7,no2,pp ,2 [24] T C Lin an M C Chen, Aaptive hybri type-2 intelligent sliing moe control or uncertain nonlinear multivariable ynamical systems, Fuzzy Sets an Systems, vol7,no,pp 44 7, 2 [25] J Zhang, P Shi, an Y Xia, Robust aaptive sliing-moe control or uzzy systems with mismatche uncertainties, IEEE Transactions on Fuzzy Systems,vol8,no4,pp7 7,2 [26] Z He, J Wu, G Sun, an C Gao, State estimation an sliing moe control o uncertain switche hybri systems, International Journal o Innovative Computing Inormation an Control,vol8,no,pp ,22 [27] T C Lin, S W Chang, an C H Hsu, Robust aaptive uzzy sliing moe control or a class o uncertain iscretetime nonlinear systems, International Journal o Innovative Computing Inormation an Control, vol8,no,pp , 22 [28] M A Demetriou an I G Rosen, Variable structure moel reerence aaptive control o parabolic istribute parameter systems, in Proceeings o the American Control Conerence,pp , May 22 [29] L X Wang, ACourseinFuzzySystemsanControl, Prentice- Hall,EnglewooClis,NJ,USA,997 [3] C H Wang, H L Liu, an T C Lin, Direct aaptive uzzyneural control with state observer an supervisory controller or unknown nonlinear ynamical systems, IEEE Transactions on Fuzzy Systems,vol,no,pp39 49,22 [3] A Sala, T M Guerra, an R Babuška, Perspectives o uzzy systems an control, Fuzzy Sets an Systems,vol56,no3,pp , 25 [32] JWanganJHu, Robustaaptiveneuralcontroloraclasso uncertain non-linear time-elay systems with unknown eazone non-linearity, IET Control Theory & Applications, vol 5, no5,pp ,2 [33] Z L Liu, Reinorcement aaptive uzzy control o wing rock phenomena, IEE Proceeings: Control Theory an Applications, vol 52, no 6, pp 65 62, 25 [34] J E Slotine an W Li, Applie Nonlinear Control, Prentice-Hall, Upper Sale River, NJ, USA, 99 [35] F J Lin, P H Shieh, an Y C Hung, An intelligent control or linear ultrasonic motor using interval type-2 uzzy neural network, IET Electric Power Applications, vol 2, no, pp 32 4, 28
Exponential Tracking Control of Nonlinear Systems with Actuator Nonlinearity
Preprints of the 9th Worl Congress The International Feeration of Automatic Control Cape Town, South Africa. August -9, Exponential Tracking Control of Nonlinear Systems with Actuator Nonlinearity Zhengqiang
More informationNonlinear Adaptive Ship Course Tracking Control Based on Backstepping and Nussbaum Gain
Nonlinear Aaptive Ship Course Tracking Control Base on Backstepping an Nussbaum Gain Jialu Du, Chen Guo Abstract A nonlinear aaptive controller combining aaptive Backstepping algorithm with Nussbaum gain
More informationNonlinear Backstepping Control of Permanent Magnet Synchronous Motor (PMSM)
International ournal o Systems Control (Vol.1-010/Iss.1) Merzoug an Benalla / Nonlinear Backstepping Control o ermanent... / pp. 30-34 Nonlinear Backstepping Control o ermanent Magnet Synchronous Motor
More informationIndirect Adaptive Fuzzy and Impulsive Control of Nonlinear Systems
International Journal of Automation an Computing 7(4), November 200, 484-49 DOI: 0007/s633-00-053-7 Inirect Aaptive Fuzzy an Impulsive Control of Nonlinear Systems Hai-Bo Jiang School of Mathematics, Yancheng
More informationExperimental Robustness Study of a Second-Order Sliding Mode Controller
Experimental Robustness Stuy of a Secon-Orer Sliing Moe Controller Anré Blom, Bram e Jager Einhoven University of Technology Department of Mechanical Engineering P.O. Box 513, 5600 MB Einhoven, The Netherlans
More informationSome Remarks on the Boundedness and Convergence Properties of Smooth Sliding Mode Controllers
International Journal of Automation an Computing 6(2, May 2009, 154-158 DOI: 10.1007/s11633-009-0154-z Some Remarks on the Bouneness an Convergence Properties of Smooth Sliing Moe Controllers Wallace Moreira
More informationRobust Adaptive Control for a Class of Systems with Deadzone Nonlinearity
Intelligent Control an Automation, 5, 6, -9 Publishe Online February 5 in SciRes. http://www.scirp.org/journal/ica http://x.oi.org/.436/ica.5.6 Robust Aaptive Control for a Class of Systems with Deazone
More informationUncertain Fractional Order Chaotic Systems Tracking Design via Adaptive Hybrid Fuzzy Sliding Mode Control
Int. J. of Computers, Communications & Control, ISSN 1841-9836, E-ISSN 1841-9844 Vol. VI (011, No. 3 (September, pp. 418-47 Uncertain Fractional Orer Chaotic Systems Tracking Design via Aaptive Hybri Fuzzy
More informationRobust Tracking Control of Robot Manipulator Using Dissipativity Theory
Moern Applie Science July 008 Robust racking Control of Robot Manipulator Using Dissipativity heory Hongrui Wang Key Lab of Inustrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangao
More informationAdaptive Gain-Scheduled H Control of Linear Parameter-Varying Systems with Time-Delayed Elements
Aaptive Gain-Scheule H Control of Linear Parameter-Varying Systems with ime-delaye Elements Yoshihiko Miyasato he Institute of Statistical Mathematics 4-6-7 Minami-Azabu, Minato-ku, okyo 6-8569, Japan
More informationSome spaces of sequences of interval numbers defined by a modulus function
Global Journal o athematical Analysis, 2 1 2014 11-16 c Science Publishing Corporation wwwsciencepubcocom/inexphp/gja oi: 1014419/gjmav2i12005 Research Paper Some spaces o sequences o interval numbers
More informationOptimal Variable-Structure Control Tracking of Spacecraft Maneuvers
Optimal Variable-Structure Control racking of Spacecraft Maneuvers John L. Crassiis 1 Srinivas R. Vaali F. Lanis Markley 3 Introuction In recent years, much effort has been evote to the close-loop esign
More informationDead Zone Model Based Adaptive Backstepping Control for a Class of Uncertain Saturated Systems
Milano (Italy) August - September, 11 Dea Zone Moel Base Aaptive Backstepping Control for a Class of Uncertain Saturate Systems Seyye Hossein Mousavi Alireza Khayatian School of Electrical an Computer
More informationSliding mode approach to congestion control in connection-oriented communication networks
JOURNAL OF APPLIED COMPUTER SCIENCE Vol. xx. No xx (200x), pp. xx-xx Sliing moe approach to congestion control in connection-oriente communication networks Anrzej Bartoszewicz, Justyna Żuk Technical University
More informationForce/Position Tracking of a Robot in Compliant Contact with Unknown Stiffness and Surface Kinematics
27 I International Conerence on Robotics an Automation Roma, Italy, -4 April 27 FrC.2 Force/Position Tracking o a Robot in Compliant Contact with Unknown Stiness an Surace Kinematics Zoe Doulgeri Member,
More informationOpen Access An Exponential Reaching Law Sliding Mode Observer for PMSM in Rotating Frame
Sen Orers for Reprints to reprints@benthamscience.ae The Open Automation an Control Systems Journal, 25, 7, 599-66 599 Open Access An Exponential Reaching Law Sliing Moe Observer for PMSM in Rotating Frame
More informationStability-Guaranteed Impedance Control of Hydraulic Robotic Manipulators
Tampere University o Technology Stability-Guarantee Impeance Control o Hyraulic Robotic Manipulators Citation Koivumäki, J., & Mattila, J. (217). Stability-Guarantee Impeance Control o Hyraulic Robotic
More informationDistributed Force/Position Consensus Tracking of Networked Robotic Manipulators
180 IEEE/CAA JOURNAL OF AUTOMATICA SINICA, VOL. 1, NO. 2, APRIL 2014 Distribute Force/Position Consensus Tracking of Networke Robotic Manipulators Lijiao Wang Bin Meng Abstract In this paper, we aress
More informationMATHEMATICAL MODELLING OF INVERTED PENDULUM WITH DISTURBANCE INPUT
Mathematical Moelling O Inverte Penulum With Disturbance Input MATHEMATICAL MODELLING OF INVERTED PENDULUM WITH DISTURBANCE INPUT PANKAJ WARAK Stuent, ME Control Systems, KKW COE &Research, Nashik Abstract
More informationMulti-robot Formation Control Using Reinforcement Learning Method
Multi-robot Formation Control Using Reinforcement Learning Metho Guoyu Zuo, Jiatong Han, an Guansheng Han School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing
More informationNeural Network Controller for Robotic Manipulator
MMAE54 Robotics- Class Project Paper Neural Network Controller for Robotic Manipulator Kai Qian Department of Biomeical Engineering, Illinois Institute of echnology, Chicago, IL 666 USA. Introuction Artificial
More informationAn inductance lookup table application for analysis of reluctance stepper motor model
ARCHIVES OF ELECTRICAL ENGINEERING VOL. 60(), pp. 5- (0) DOI 0.478/ v07-0-000-y An inuctance lookup table application for analysis of reluctance stepper motor moel JAKUB BERNAT, JAKUB KOŁOTA, SŁAWOMIR
More informationRobust Control of a Brushless Servo Motor Using Sliding Mode
Buletin Teknik Elektro an Inormatika (Bulletin o Electrical Engineering an Inormatics) Vol.1, No.4, December 2012, pp. 295~304 ISSN: 2089-3191 295 Robust Control o a Brushless Servo Motor Using Sliing
More informationTakagi Sugeno Fuzzy Sliding Mode Controller Design for a Class of Nonlinear System
Australian Journal of Basic and Applied Sciences, 7(7): 395-400, 2013 ISSN 1991-8178 Takagi Sugeno Fuzzy Sliding Mode Controller Design for a Class of Nonlinear System 1 Budiman Azzali Basir, 2 Mohammad
More informationA New Backstepping Sliding Mode Guidance Law Considering Control Loop Dynamics
pp. 9-6 A New Backstepping liing Moe Guiance Law Consiering Control Loop Dynamics V. Behnamgol *, A. Vali an A. Mohammai 3, an 3. Department of Control Engineering, Malek Ashtar University of Technology
More informationVIRTUAL STRUCTURE BASED SPACECRAFT FORMATION CONTROL WITH FORMATION FEEDBACK
AIAA Guiance, Navigation, an Control Conference an Exhibit 5-8 August, Monterey, California AIAA -9 VIRTUAL STRUCTURE BASED SPACECRAT ORMATION CONTROL WITH ORMATION EEDBACK Wei Ren Ranal W. Bear Department
More informationResearch Article Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System
athematical Problems in Engineering Volume 216, Article ID 45534, 1 pages http://x.oi.org/1.1155/216/45534 Research Article Finite-Time Composite Position Control for a Disturbe Pneumatic Servo System
More informationNested Saturation with Guaranteed Real Poles 1
Neste Saturation with Guarantee Real Poles Eric N Johnson 2 an Suresh K Kannan 3 School of Aerospace Engineering Georgia Institute of Technology, Atlanta, GA 3332 Abstract The global stabilization of asymptotically
More informationSmith Compensator Using Modified IMC for Unstable Plant with Time Delay
2 International Conerence on Inormation an Electronics Engineering IPCSIT vol.6 (2) (2) IACSIT Press, Singapore Smith Compensator Using Moiie IMC or Unstable Plant with Time Delay Hiroki Shibasaki, Manato
More informationResearch Article Global and Blow-Up Solutions for Nonlinear Hyperbolic Equations with Initial-Boundary Conditions
International Differential Equations Volume 24, Article ID 724837, 5 pages http://x.oi.org/.55/24/724837 Research Article Global an Blow-Up Solutions for Nonlinear Hyperbolic Equations with Initial-Bounary
More informationFUZZY SLIDING MODE CONTROL DESIGN FOR A CLASS OF NONLINEAR SYSTEMS WITH STRUCTURED AND UNSTRUCTURED UNCERTAINTIES
International Journal of Innovative Computing, Information and Control ICIC International c 2013 ISSN 1349-4198 Volume 9, Number 7, July 2013 pp. 2713 2726 FUZZY SLIDING MODE CONTROL DESIGN FOR A CLASS
More informationA Short Note on Self-Similar Solution to Unconfined Flow in an Aquifer with Accretion
Open Journal o Flui Dynamics, 5, 5, 5-57 Publishe Online March 5 in SciRes. http://www.scirp.org/journal/oj http://x.oi.org/.46/oj.5.57 A Short Note on Sel-Similar Solution to Unconine Flow in an Aquier
More informationDynamic Load Carrying Capacity of Spatial Cable Suspended Robot: Sliding Mode Control Approach
Int J Avance Design an Manufacturing echnology, Vol. 5/ No. 3/ June - 212 73 Dynamic Loa Carrying Capacity of Spatial Cable Suspene Robot: Sliing Moe Control Approach M. H. Korayem Department of Mechanical
More informationNovel Coordinate Transformation and Robust Cooperative Formation Control for Swarms of Spacecraft
4th International Conerence on Spacecrat Formation Flying Missions an echnologies May 18-2 211 St. Hubert Quebec Canaa Novel Coorinate ransormation an Robust Cooperative Formation Control or Swarms o Spacecrat
More informationApproximate reduction of dynamic systems
Systems & Control Letters 57 2008 538 545 www.elsevier.com/locate/sysconle Approximate reuction of ynamic systems Paulo Tabuaa a,, Aaron D. Ames b, Agung Julius c, George J. Pappas c a Department of Electrical
More informationElectric Power Systems Research
Electric Power Systems Research 84 (22 35 43 Contents lists available at SciVerse ScienceDirect Electric Power Systems Research jou rn al h om epage: www.elsevier.com/locate/epsr Observer-base nonlinear
More informationResearch Article Adaptive Control of MEMS Gyroscope Based on T-S Fuzzy Model
Discrete Dynamics in Nature and Society Volume 5 Article ID 4643 pages http://dx.doi.org/.55/5/4643 Research Article Adaptive Control of MEMS Gyroscope Based on -S Fuzzy Model Yunmei Fang Shitao Wang Juntao
More informationComputing Exact Confidence Coefficients of Simultaneous Confidence Intervals for Multinomial Proportions and their Functions
Working Paper 2013:5 Department of Statistics Computing Exact Confience Coefficients of Simultaneous Confience Intervals for Multinomial Proportions an their Functions Shaobo Jin Working Paper 2013:5
More informationBEYOND THE CONSTRUCTION OF OPTIMAL SWITCHING SURFACES FOR AUTONOMOUS HYBRID SYSTEMS. Mauro Boccadoro Magnus Egerstedt Paolo Valigi Yorai Wardi
BEYOND THE CONSTRUCTION OF OPTIMAL SWITCHING SURFACES FOR AUTONOMOUS HYBRID SYSTEMS Mauro Boccaoro Magnus Egerstet Paolo Valigi Yorai Wari {boccaoro,valigi}@iei.unipg.it Dipartimento i Ingegneria Elettronica
More informationIN the recent past, the use of vertical take-off and landing
IEEE TRANSACTIONS ON ROBOTICS, VOL. 27, NO. 1, FEBRUARY 2011 129 Aaptive Position Tracking of VTOL UAVs Anrew Roberts, Stuent Member, IEEE, an Abelhami Tayebi, Senior Member, IEEE Abstract An aaptive position-tracking
More informationContinuous observer design for nonlinear systems with sampled and delayed output measurements
Preprints of th9th Worl Congress The International Feeration of Automatic Control Continuous observer esign for nonlinear systems with sample an elaye output measurements Daoyuan Zhang Yanjun Shen Xiaohua
More informationTotal Energy Shaping of a Class of Underactuated Port-Hamiltonian Systems using a New Set of Closed-Loop Potential Shape Variables*
51st IEEE Conference on Decision an Control December 1-13 212. Maui Hawaii USA Total Energy Shaping of a Class of Uneractuate Port-Hamiltonian Systems using a New Set of Close-Loop Potential Shape Variables*
More informationLaplacian Cooperative Attitude Control of Multiple Rigid Bodies
Laplacian Cooperative Attitue Control of Multiple Rigi Boies Dimos V. Dimarogonas, Panagiotis Tsiotras an Kostas J. Kyriakopoulos Abstract Motivate by the fact that linear controllers can stabilize the
More informationChaos, Solitons and Fractals
Chaos, Solitons an Fractals xxx (00) xxx xxx Contents lists available at ScienceDirect Chaos, Solitons an Fractals journal homepage: www.elsevier.com/locate/chaos Impulsive stability of chaotic systems
More informationNew Simple Controller Tuning Rules for Integrating and Stable or Unstable First Order plus Dead-Time Processes
Proceeings of the 3th WSEAS nternational Conference on SYSTEMS New Simple Controller Tuning Rules for ntegrating an Stable or Unstable First Orer plus Dea-Time Processes.G.ARVANTS Department of Natural
More informationResearch Article Adaptive Neural Gradient Descent Control for a Class of Nonlinear Dynamic Systems with Chaotic Phenomenon
Mathematical Problems in Engineering Volume 215, Article ID 89471, 6 pages http://dx.doi.org/1.1155/215/89471 Research Article Adaptive Neural Gradient Descent Control for a Class of Nonlinear Dynamic
More information'HVLJQ &RQVLGHUDWLRQ LQ 0DWHULDO 6HOHFWLRQ 'HVLJQ 6HQVLWLYLW\,1752'8&7,21
Large amping in a structural material may be either esirable or unesirable, epening on the engineering application at han. For example, amping is a esirable property to the esigner concerne with limiting
More informationPID Adaptive Control Design Based on Singular Perturbation Technique: A Flight Control Example
PID Aaptive Control Design Base on Singular Perturbation Technique: A Flight Control Example Valery D. Yurkevich, Novosibirsk State Technical University, 20 K. Marx av., Novosibirsk, 630092, Russia (e-mail:
More informationAdaptive Back-Stepping Control of Automotive Electronic Control Throttle
Journal of Software Engineering an Applications, 07, 0, 4-55 http://www.scirp.org/journal/jsea ISSN Online: 945-34 ISSN Print: 945-36 Aaptive Back-Stepping Control of Automotive Electronic Control Throttle
More informationWIND energy is a renewable energy source. It has
or Standalone Wind Energy Conversion Systems Hoa M. Nguyen, Member, IAENG and D. S. Naidu. Abstract This paper presents a direct uzzy adaptive control or standalone Wind Energy Conversion Systems (WECS)
More informationTutorial Test 5 2D welding robot
Tutorial Test 5 D weling robot Phys 70: Planar rigi boy ynamics The problem statement is appene at the en of the reference solution. June 19, 015 Begin: 10:00 am En: 11:30 am Duration: 90 min Solution.
More informationTHE ACCURATE ELEMENT METHOD: A NEW PARADIGM FOR NUMERICAL SOLUTION OF ORDINARY DIFFERENTIAL EQUATIONS
THE PUBISHING HOUSE PROCEEDINGS O THE ROMANIAN ACADEMY, Series A, O THE ROMANIAN ACADEMY Volume, Number /, pp. 6 THE ACCURATE EEMENT METHOD: A NEW PARADIGM OR NUMERICA SOUTION O ORDINARY DIERENTIA EQUATIONS
More informationDistributed coordination control for multi-robot networks using Lyapunov-like barrier functions
IEEE TRANSACTIONS ON 1 Distribute coorination control for multi-robot networks using Lyapunov-like barrier functions Dimitra Panagou, Dušan M. Stipanović an Petros G. Voulgaris Abstract This paper aresses
More informationDiscrete Time Linear Quadratic Optimal Control for an Electrical Servo Drive System
Discrete ime Linear Quaratic Optimal Control or an Electrical Servo Drive System CORNELIU BOAN, FLORIN OSAFI an ALEXANDRU ONEA Dept. o Automatic Control an Inustrial Inormatics Gh. Asachi echnical University
More informationELEC3114 Control Systems 1
ELEC34 Control Systems Linear Systems - Moelling - Some Issues Session 2, 2007 Introuction Linear systems may be represente in a number of ifferent ways. Figure shows the relationship between various representations.
More informationLectures - Week 10 Introduction to Ordinary Differential Equations (ODES) First Order Linear ODEs
Lectures - Week 10 Introuction to Orinary Differential Equations (ODES) First Orer Linear ODEs When stuying ODEs we are consiering functions of one inepenent variable, e.g., f(x), where x is the inepenent
More informationFeedback Linearization
Feedback Linearization Peter Al Hokayem and Eduardo Gallestey May 14, 2015 1 Introduction Consider a class o single-input-single-output (SISO) nonlinear systems o the orm ẋ = (x) + g(x)u (1) y = h(x) (2)
More informationAdaptive fuzzy observer and robust controller for a 2-DOF robot arm
Adaptive fuzzy observer and robust controller for a -DOF robot arm S. Bindiganavile Nagesh, Zs. Lendek, A.A. Khalate, R. Babuška Delft University of Technology, Mekelweg, 8 CD Delft, The Netherlands (email:
More informationSwitching Time Optimization in Discretized Hybrid Dynamical Systems
Switching Time Optimization in Discretize Hybri Dynamical Systems Kathrin Flaßkamp, To Murphey, an Sina Ober-Blöbaum Abstract Switching time optimization (STO) arises in systems that have a finite set
More informationSLIDING MODE FAULT TOLERANT CONTROL WITH PRESCRIBED PERFORMANCE. Jicheng Gao, Qikun Shen, Pengfei Yang and Jianye Gong
International Journal of Innovative Computing, Information and Control ICIC International c 27 ISSN 349-498 Volume 3, Number 2, April 27 pp. 687 694 SLIDING MODE FAULT TOLERANT CONTROL WITH PRESCRIBED
More informationPredictive Control of a Laboratory Time Delay Process Experiment
Print ISSN:3 6; Online ISSN: 367-5357 DOI:0478/itc-03-0005 Preictive Control of a aboratory ime Delay Process Experiment S Enev Key Wors: Moel preictive control; time elay process; experimental results
More informationAdaptive Fuzzy Sliding Mode Power System Stabilizer Using Nussbaum Gain
International Journal of Automation an Computing 1(4, August 213, 281-287 DOI: 1.17/s11633-13-722- Aaptive Fuzzy Sliing Moe Power System Stabilizer Using Nussbaum Gain Emira Nechai 1 Mohame Naguib Harmas
More informationDynamics of the synchronous machine
ELEC0047 - Power system ynamics, control an stability Dynamics of the synchronous machine Thierry Van Cutsem t.vancutsem@ulg.ac.be www.montefiore.ulg.ac.be/~vct These slies follow those presente in course
More informationSliding Mode Control and Feedback Linearization for Non-regular Systems
Sliding Mode Control and Feedback Linearization or Non-regular Systems Fu Zhang Benito R. Fernández Pieter J. Mosterman Timothy Josserand The MathWorks, Inc. Natick, MA, 01760 University o Texas at Austin,
More informationTime-of-Arrival Estimation in Non-Line-Of-Sight Environments
2 Conference on Information Sciences an Systems, The Johns Hopkins University, March 2, 2 Time-of-Arrival Estimation in Non-Line-Of-Sight Environments Sinan Gezici, Hisashi Kobayashi an H. Vincent Poor
More informationAdaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties
Australian Journal of Basic and Applied Sciences, 3(1): 308-322, 2009 ISSN 1991-8178 Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties M.R.Soltanpour, M.M.Fateh
More information6.003 Homework #7 Solutions
6.003 Homework #7 Solutions Problems. Secon-orer systems The impulse response of a secon-orer CT system has the form h(t) = e σt cos(ω t + φ)u(t) where the parameters σ, ω, an φ are relate to the parameters
More informationAdaptive Robust Control: A Piecewise Lyapunov Function Approach
Aaptive Robust Control: A Piecewise Lyapunov Function Approach Jianming Lian, Jianghai Hu an Stanislaw H. Żak Abstract The problem of output tracking control for a class of multi-input multi-output uncertain
More informationDissipative numerical methods for the Hunter-Saxton equation
Dissipative numerical methos for the Hunter-Saton equation Yan Xu an Chi-Wang Shu Abstract In this paper, we present further evelopment of the local iscontinuous Galerkin (LDG) metho esigne in [] an a
More informationProduct and Quotient Rules and Higher-Order Derivatives. The Product Rule
330_003.q 11/3/0 :3 PM Page 119 SECTION.3 Prouct an Quotient Rules an Higher-Orer Derivatives 119 Section.3 Prouct an Quotient Rules an Higher-Orer Derivatives Fin the erivative o a unction using the Prouct
More informationResearch Article Development of Digital Control for High Power Permanent-Magnet Synchronous Motor Drives
Mathematical Problems in Engineering Volume 214, Article ID 926727, 1 pages http://x.oi.org/1.1155/214/926727 Research Article Development of Digital Control for High Power Permanent-Magnet Synchronous
More informationBasic Strategy for Card-Counters: An Analytic Approach. by N. Richard Werthamer
Basic Strategy or Car-Counters: An Analytic Approach by N. Richar Werthamer Abstract We evelop an eicient metho, similar to that o Marcus (7) who calls it Counter Basic Strategy, or casino blackack car
More informationA Novel Position Control of PMSM Based on Active Disturbance Rejection
A Novel Position Control of PMSM Base on Active Disturbance Rejection XING-HUA YANG, XI-JUN YANG, JIAN-GUO JIANG Dept of Electrical Engineering, Shanghai Jiao Tong University, 4, Shanghai, CHINA yangxinghua4@6com
More informationA global Implicit Function Theorem without initial point and its applications to control of non-affine systems of high dimensions
J. Math. Anal. Appl. 313 (2006) 251 261 www.elsevier.com/locate/jmaa A global Implicit Function Theorem without initial point an its applications to control of non-affine systems of high imensions Weinian
More informationStability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Popov Criterion
Stability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Popov Criterion Xiaojun Ban, X. Z. Gao, Xianlin Huang 3, and Hang Yin 4 Department of Control Theory and Engineering, Harbin
More informationEC5555 Economics Masters Refresher Course in Mathematics September 2013
EC5555 Economics Masters Reresher Course in Mathematics September 3 Lecture 5 Unconstraine Optimization an Quaratic Forms Francesco Feri We consier the unconstraine optimization or the case o unctions
More informationNOTES ON EULER-BOOLE SUMMATION (1) f (l 1) (n) f (l 1) (m) + ( 1)k 1 k! B k (y) f (k) (y) dy,
NOTES ON EULER-BOOLE SUMMATION JONATHAN M BORWEIN, NEIL J CALKIN, AND DANTE MANNA Abstract We stuy a connection between Euler-MacLaurin Summation an Boole Summation suggeste in an AMM note from 196, which
More informationVariable Structure Control of Pendulum-driven Spherical Mobile Robots
rd International Conerence on Computer and Electrical Engineering (ICCEE ) IPCSIT vol. 5 () () IACSIT Press, Singapore DOI:.776/IPCSIT..V5.No..6 Variable Structure Control o Pendulum-driven Spherical Mobile
More informationMulti-agent Systems Reaching Optimal Consensus with Time-varying Communication Graphs
Preprints of the 8th IFAC Worl Congress Multi-agent Systems Reaching Optimal Consensus with Time-varying Communication Graphs Guoong Shi ACCESS Linnaeus Centre, School of Electrical Engineering, Royal
More informationAdaptive Control of the Boost DC-AC Converter
Aaptive Control of the Boost DC-AC Converter Carolina Albea-Sanchez, Carlos Canuas De Wit, Francisco Gorillo Alvarez To cite this version: Carolina Albea-Sanchez, Carlos Canuas De Wit, Francisco Gorillo
More informationNON-LINEAR CONTROL STRATEGY FOR STRIP CASTING PROCESSES
NON-LINER CONROL SREGY FOR SRIP CSING PROCESSES V.. Oliveira, R. R. Nascimento, N. S. D. rrifano E. Gesualo, J. P. V. osetti Departamento e Engenharia Elétrica, USP São Carlos CP 359, CEP 3560-970 São
More informationThe Efficiency Optimization of Permanent Magnet Synchronous Machine DTC for Electric Vehicles Applications Based on Loss Model
International Power, Electronics an Materials Engineering Conference (IPEMEC 015) The Efficiency Optimization of Permanent Magnet Synchronous Machine DTC for Electric Vehicles Applications Base on Loss
More information739. Design of adaptive sliding mode control for spherical robot based on MR fluid actuator
739. Design of aaptive sliing moe control for spherical robot base on MR flui actuator M. Yue,, B. Y. Liu School of Automotive Engineering, Dalian University of echnology 604, Dalian, Liaoning province,
More informationApproximate Reduction of Dynamical Systems
Proceeings of the 4th IEEE Conference on Decision & Control Manchester Gran Hyatt Hotel San Diego, CA, USA, December 3-, 6 FrIP.7 Approximate Reuction of Dynamical Systems Paulo Tabuaa, Aaron D. Ames,
More informationGLOBAL SOLUTIONS FOR 2D COUPLED BURGERS-COMPLEX-GINZBURG-LANDAU EQUATIONS
Electronic Journal of Differential Equations, Vol. 015 015), No. 99, pp. 1 14. ISSN: 107-6691. URL: http://eje.math.txstate.eu or http://eje.math.unt.eu ftp eje.math.txstate.eu GLOBAL SOLUTIONS FOR D COUPLED
More informationA Weak First Digit Law for a Class of Sequences
International Mathematical Forum, Vol. 11, 2016, no. 15, 67-702 HIKARI Lt, www.m-hikari.com http://x.oi.org/10.1288/imf.2016.6562 A Weak First Digit Law for a Class of Sequences M. A. Nyblom School of
More informationNon Interacting Fuzzy Control System Design for Distillation Columns
Non Interacting Fuzzy Control System Design for Distillation Columns A. MAIDI, 1, M. DIAF, A. KHELASSI, C. BOUYAHIAOUI Département Automatique, Faculté e Génie Electrique et Informatique, Université Moulou
More informationSlide10 Haykin Chapter 14: Neurodynamics (3rd Ed. Chapter 13)
Slie10 Haykin Chapter 14: Neuroynamics (3r E. Chapter 13) CPSC 636-600 Instructor: Yoonsuck Choe Spring 2012 Neural Networks with Temporal Behavior Inclusion of feeback gives temporal characteristics to
More informationDesign A Robust Power System Stabilizer on SMIB Using Lyapunov Theory
Design A Robust Power System Stabilizer on SMIB Using Lyapunov Theory Yin Li, Stuent Member, IEEE, Lingling Fan, Senior Member, IEEE Abstract This paper proposes a robust power system stabilizer (PSS)
More informationLie symmetry and Mei conservation law of continuum system
Chin. Phys. B Vol. 20, No. 2 20 020 Lie symmetry an Mei conservation law of continuum system Shi Shen-Yang an Fu Jing-Li Department of Physics, Zhejiang Sci-Tech University, Hangzhou 3008, China Receive
More informationECE 422 Power System Operations & Planning 7 Transient Stability
ECE 4 Power System Operations & Planning 7 Transient Stability Spring 5 Instructor: Kai Sun References Saaat s Chapter.5 ~. EPRI Tutorial s Chapter 7 Kunur s Chapter 3 Transient Stability The ability of
More informationAn algebraic expression of stable inversion for nonminimum phase systems and its applications
Proceeings of the 17th Worl Congress The International Feeration of Automatic Control An algebraic expression of stable inversion for nonminimum phase systems an its applications Takuya Sogo Chubu University,
More informationThe canonical controllers and regular interconnection
Systems & Control Letters ( www.elsevier.com/locate/sysconle The canonical controllers an regular interconnection A.A. Julius a,, J.C. Willems b, M.N. Belur c, H.L. Trentelman a Department of Applie Mathematics,
More informationJ. Electrical Systems 11-4 (2015): Regular paper
Chuansheng ang,*, Hongwei iu, Yuehong Dai Regular paper Robust Optimal Control of Chaos in Permanent Magnet Synchronous Motor with Unknown Parameters JES Journal of Electrical Systems his paper focuses
More informationSurvey Sampling. 1 Design-based Inference. Kosuke Imai Department of Politics, Princeton University. February 19, 2013
Survey Sampling Kosuke Imai Department of Politics, Princeton University February 19, 2013 Survey sampling is one of the most commonly use ata collection methos for social scientists. We begin by escribing
More informationOutput Feedback Stabilization of Networked Control Systems With Random Delays Modeled by Markov Chains
668 IEEE RANSACIONS ON AUOMAIC CONROL, VOL 54, NO 7, JULY 29 Output Feeback Stabilization of Networke Control Systems With Ranom Delays Moele by Markov Chains Yang Shi, Member, IEEE, an Bo Yu, Stuent Member,
More informationStable and compact finite difference schemes
Center for Turbulence Research Annual Research Briefs 2006 2 Stable an compact finite ifference schemes By K. Mattsson, M. Svär AND M. Shoeybi. Motivation an objectives Compact secon erivatives have long
More informationCalculus of Variations
16.323 Lecture 5 Calculus of Variations Calculus of Variations Most books cover this material well, but Kirk Chapter 4 oes a particularly nice job. x(t) x* x*+ αδx (1) x*- αδx (1) αδx (1) αδx (1) t f t
More informationShifted Independent Component Analysis
Downloae rom orbit.tu.k on: Dec 06, 2017 Shite Inepenent Component Analysis Mørup, Morten; Masen, Kristoer Hougaar; Hansen, Lars Kai Publishe in: 7th International Conerence on Inepenent Component Analysis
More informationAutomatica. Composite adaptive control for Euler Lagrange systems with additive disturbances
Automatica 46 (21) 14 147 Contents lists available at ScienceDirect Automatica journal homepage: www.elsevier.com/locate/automatica Brief paper Composite aaptive control for Euler Lagrange systems with
More information