			Home About us Contact

Robust Nonlinear Control (robust + nonlinear_control)

Distribution by Scientific Domains

Engineering	80%

Selected Abstracts

Central suboptimal H, filter design for nonlinear polynomial systems

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 10 2009
Michael Basin
Abstract This paper presents the central finite-dimensional H, filter for nonlinear polynomial systems, which is suboptimal for a given threshold , with respect to a modified Bolza,Meyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the previously obtained results, the paper reduces the original H, filtering problem to the corresponding optimal H2 filtering problem, using the technique proposed in (IEEE Trans. Automat. Control 1989; 34:831,847). The paper presents the central suboptimal H, filter for the general case of nonlinear polynomial systems based on the optimal H2 filter given in (Int. J. Robust Nonlinear Control 2006; 16:287,298). The central suboptimal H, filter is also derived in a closed finite-dimensional form for third (and less) degree polynomial system states. Numerical simulations are conducted to verify performance of the designed central suboptimal filter for nonlinear polynomial systems against the central suboptimal H, filter available for the corresponding linearized system. Copyright © 2008 John Wiley & Sons, Ltd. [source]

Robust adaptive fuzzy semi-decentralized control for a class of large-scale nonlinear systems using input,output linearization concept

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 1 2010
H. Yousef
Abstract Stable direct and indirect adaptive fuzzy controllers based on input,output linearization concept are presented for a class of interconnected nonlinear systems with unknown nonlinear subsystems and interconnections. The interconnected nonlinear systems are represented not only in the canonical forms as in Yousef et al. (Int. J. Robust Nonlinear Control 2006; 16: 687,708) but also in the general forms. Hybrid adaptive fuzzy robust tracking control schemes that are based on a combination of an H, tracking theory and fuzzy control design are developed. In the proposed control schemes, all the states and signals are bounded and an H, tracking control performance is guaranteed without imposing any constraints or assumptions about the interconnections. Extensive simulation on the tracking of a two-link rigid robot manipulator and a numerical example verify the effectiveness of the proposed algorithms. Copyright © 2009 John Wiley & Sons, Ltd. [source]

A combined first-/second-order sliding-mode technique in the control of a jet-propelled vehicle

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 4-5 2008
G. Bartolini
Abstract This note concerns the design and practical implementation of a position/attitude sliding-mode controller for a surface vessel prototype. The prototype is equipped with a special, recently patented (Italian Patent, 2005), propulsion system based on hydro-jets with adjustable output section. The sliding-mode control design is based on the combination between three instances of a second-order sliding-mode velocity observer (Automatica 1998; 34:379,384) and a simplex-based sliding-mode controller (Int. J. Robust Nonlinear Control 1997; 7(4):321,335). We first describe the structure and the working principle of the prototype. Then, we detail the derivation of the motion observer/controller. Finally, we discuss the major implementation issues and show some experimental results. Copyright © 2007 John Wiley & Sons, Ltd. [source]

Adaptive backstepping integral control of a small-scale helicopter for airdrop missions,

ASIAN JOURNAL OF CONTROL, Issue 4 2010
Chi-Tai Lee
Abstract This paper presents an adaptive Lyapunov-based controller with integral action for small-scale helicopters carrying out airdrop missions. The proposed controller is designed via adaptive backstepping. Unlike the approximate modeling approaches, where the coupling effect of the helicopter is neglected, the proposed method is developed according to a complete dynamic model such that the closed-loop helicopter system is guaranteed to be globally ultimately bounded. Two numerical simulations with airdrops are conducted to exemplify the merits of the proposed controller. Through simulation results, the proposed control method is shown to outperform the well-known controller in Mahony and Hamel, Int. J. Robust Nonlinear Control, Vol. 14, No. (12), pp. 1035,1059 (2004). Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]

Backstepping-based cascade control scheme for batch distillation columns

AICHE JOURNAL, Issue 9 2004
Rosendo Monroy-Loperena
Abstract Nonstationary dynamics, finite-time operation, large thermodynamical uncertainty and delayed composition measurements make the control of batch distillation processes a challenging and interesting problem. In this paper, a cascade control design to regulate the overhead composition of a batch distillation column is presented. The controller is designed within the framework of robust nonlinear control with modeling error compensation techniques in conjunction with a backstepping approach. The result is a cascade controller with a master loop that, driven by the composition regulation error, produces a time-varying set point for the temperature in a certain tray; and with a secondary controller that manipulates the internal reflux ratio to track the time-varying set point determined by the master composition loop. How to extend the controller design to have multiple slave temperature controllers, to improve the regulation of the overhead composition in a batch distillation column, is also presented. The proposed control approach is illustrated by numerical simulations on a full dynamical model. © 2004 American Institute of Chemical Engineers AIChE J, 50: 2113,2129, 2004 [source]