Tracking control of high-performance robots via stabilizing controllers for uncertain systems

The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation.     

Decentralized robust control design for uncertain delay systems

We consider a class of large-scale uncertain delay systems. The uncertain parameter vector in the system is possibly fast time-varying. It may be nonlinear in the system dynamics. No statistical or fuzzy information of the uncertainty is known. Based on only the possible bound of the uncertain parameter, a decentralized linear robust control is proposed, which renders the system asymptotically stable.     

Viable control for uncertain nonlinear dynamical systems described by differential inclusions

In this paper, we will study the viable control problem for a class of uncertain nonlinear dynamical systems described by a differential inclusion. The goal is to construct a feedback control such that all trajectories of the system are viable in a map. Moreover, for any initial states no viable in the map, under the feedback control, all solutions of the system are steered to the map with an exponential convergence rate and viable in the map after a finite time T. In this case, an estimate of the time T of all trajectories attaining the map is given. In the nanomedicine system, an example inspired from cerebral embolism and cerebral thrombosis problems illustrates the use of our main results.     

Optimal control of infinite-dimensional uncertain systems

In this paper, we consider a minimax problem of optimal control for a class of strongly nonlinear uncertain evolution equations on a Banach space. We prove the existence of optimal controls. A nontrivial example of a class of systems governed by a nonlinear partial differential equation with uncertain spatial parameters is presented for illustration.This work was supported in part by the National Science and Engineering Research Council of Canada under Grant No. A7109 and The Engineering Faculty Development Fund, University of Ottawa.The authors would like to thank the anonymous reviewers for their valuable comments and suggestions.     

Iterative learning control for MIMO nonlinear systems with arbitrary relative degree and no states measurement

This article presents a state observer based iterative learning control to solve the trajectory tracking problem of a class of time‐varying Multi‐Input‐Multi‐Output nonlinear systems with arbitrary relative degree. For this purpose, an asymptotically stable observer is derived for the system under consideration. There after, this observer is integrated with the iterative learning controller by replacing the state in the control law with its estimation yielded by the state observer. Hence, the stability of the whole control (nonlinear system plus controller plus observer) is guaranteed. Simulation result on nonlinear system shows that the trajectory tracking error decreases through the iterations. © 2013 Wiley Periodicals, Inc. Complexity 19: 37–45, 2013     

Robust reliable control for uncertain switched nonlinear systems with time delay under asynchronous switching

This paper investigates the problem of robust reliable control for a class of switched nonlinear systems with time delay and actuator failures under asynchronous switching. When the switching instants of the controller experience delays with respect to those of the system, a kind of reliable controller design method is proposed, and the dwell time approach is utilized for the stability analysis. Sufficient conditions for the existence of the reliable controller are formulated in terms of a set of LMIs. Then the proposed approach is extended to take into account switched delay systems with Lipschitz nonlinearities and structured uncertainties. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.     

Sliding mode control of uncertain unified chaotic systems

This paper investigates the chaos control of the uncertain unified chaotic systems by means of sliding mode control. A proportional plus integral sliding surface is introduced to obtain a sliding mode control law. To confirm the validity of the proposed method, numerical simulations are presented graphically.     

Dissipative sampled‐data control of uncertain nonlinear systems with time‐varying delays

This article investigates the delay‐dependent robust dissipative sampled‐data control problem for a class of uncertain nonlinear systems with both differentiable and non‐differentiable time‐varying delays. The main purpose of this article is to design a retarded robust control law such that the resulting closed‐loop system is strictly (Q, S, R)‐dissipative. By introducing a suitable Lyapunov–Krasovskii functional and using free weighting matrix approach, some sufficient conditions for the solvability of the addressed problem are derived in terms of linear matrix inequalities. From the obtained dissipative result, we deduce four cases namely, H_∞ performance, passivity performance, mixed H_∞, and passivity performance and sector bounded performance of the considered system. From the obtained result, it is concluded that based on the passivity performance it is possible to obtain the controller with less control effort, and also the minimum H_∞ performance and the maximum allowable delay for achieving stabilization conditions can be obtained via the mixed H_∞ and passivity control law. Finally, simulation studies based on aircraft control system are performed to verify the effectiveness of the proposed strategy. © 2015 Wiley Periodicals, Inc. Complexity 21: 142–154, 2016     

Non-fragile observer-based passive control for uncertain time delay systems subjected to input nonlinearity

The problem of non-fragile observer-based passive control for uncertain time delay systems subjected to input nonlinearity is investigated by using sliding mode control. A novel control law is established such that the sliding surface in the state-estimation space can be reached in a finite time and chattering reduction is obtained. A sufficient condition for passivity and asymptotic stability of the combined system is derived via linear matrix inequality (LMI). Finally, a simulation example is presented to show the validity and advantages of the proposed method.     

Modified projective synchronization of uncertain fractional order hyperchaotic systems

Base on the stability theory of fractional order system, this work mainly investigates modified projective synchronization of two fractional order hyperchaotic systems with unknown parameters. A controller is designed for synchronization of two different fractional order hyperchaotic systems. The method is successfully applied to modified projective synchronization between fractional order Rössler hyperchaotic system and fractional order Chen hyperchaotic system, and numerical simulations illustrate the effectiveness of the obtained results.     

Semi-global finite-time output feedback stabilization for a class of large-scale uncertain nonlinear systems

This paper addresses the problem of semi-global finite-time decentralized output feedback control for large-scale systems with both higher-order and lower-order terms. A new design scheme is developed by coupling the finite-time output feedback stabilization method with the homogeneous domination approach. Specifically, we first design a homogeneous observer and an output feedback control law for each nominal subsystem without the nonlinearities. Then, based on the homogeneous domination approach, we relax the linear growth condition to a polynomial one and construct decentralized controllers to render the nonlinear system semi-globally finite-time stable.     

Delay-dependent nonfragile guaranteed cost control for nonlinear time-delay systems

This paper concerns the nonfragile guaranteed cost control problem for a class of nonlinear dynamic systems with multiple time delays and controller gain perturbations. Guaranteed cost control law is designed under two classes of perturbations, namely, additive form and multiplicative form. The problem is to design a memoryless state feedback control law such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties. Based on the linear matrix inequality (LMI) approach, some delay-dependent conditions for the existence of such controller are derived. A numerical example is given to illustrate the proposed method.     

Global finite-time stabilization of switched high-order rational power nonlinear systems

This works is concerned with the finite-time optimal stabilization problem for a class of switched non-strict-feedback nonlinear systems whose powers are possibly different positive odd rational numbers in the sense the powers of each subsystem might differ from others. It is well known that high-order nonlinear systems are intrinsically challenging as feedback linearization and backstepping method successfully developed for low-order systems fail to work. To this purpose, the nested saturation homogeneous controller is constructively devised to achieve global finite-time stability. Furthermore, the corresponding design parameters are optimized by minimizing a well-defined cost function, and thus an optimal controller being independent of switching signals is obtained. Simulation results are eventually provided to validate the effectiveness of the proposed control scheme.     

Optimal control for nonlinear systems calculated with small computers

Using Ritz's procedure of representing the control functions of an optimal control problem by a function series with parameters to be optimized, it is shown that, from the well-known gradient procedure for dynamic problems, a simple iteration formula for the optimization of these parameters can be derived. Using an example with a technical background, the effectiveness of the program realization of this approach is demonstrated and is compared with the results of unrestricted dynamic optimization.This work was performed at the Technische Hochschule in Darmstadt, West Germany, with financial support from the DFG (Deutsche Forschungs-Gemeinschaft).     

Robust control design for a class of mismatched uncertain nonlinear systems

We consider the robust control design problem for a class of nonlinear uncertain systems. The uncertainty in the system may be due to parameter variations and/or nonlinearity. It may be possibly fast, time-varying. The system does not satisfy the so-called matching condition. Under a state transformation, which is based on the possible bound of the uncertainty, a robust control scheme can be designed. The control renders the original uncertain system practically stable. Furthermore, the uniform ultimate boundedness ball and uniform stability ball of the original system can be made arbitrarily small by suitable choice of design parameters.     

Finite attraction for nonlinear uncertain mechanical systems

This paper deals with the robust control problem for uncertainnonlinear mechanical systems with ideal and holonomic constraints.A robust control law having the form of state feedback is obtained.The control law consists of two parts: the first one is a nominalcontrol law which affects the behaviour of the nominal dynamicsfor the considered mechanical system; the second one is a learningcontrol law which reduces the influence of uncertainties onthe stability of the mechanical system. Under the action ofthe robust control law, the closed-loop system for the uncertainmechanical system reaches a region specified a short time inadvance.     

Sampled-data control of uncertain switched neutral nonlinear systems under asynchronous switching

The robust exponential stabilization for a class of the uncertain switched neutral nonlinear systems with time-varying delays based on the sampled-data control is investigated in this paper. The closed-loop system with sampled-data control is modeled as a continuous time system with a time-varying piecewise continuous control input delay. Considering the relationship between the sampling period and the dwell time of two switching instants, sampling interval with no switching and sampling interval with one switching are discussed, respectively. By Wirtinger-based inequality, Wirtinger-based double integral inequality, and free-weighting matrix technique, some delay-dependent sufficient conditions are given to guarantee the exponential stability of uncertain switched neutral nonlinear systems under asynchronous switching. In addition, sampled-data controllers can also be designed by special operations of matrices. Finally, two numerical examples are used to show the effectiveness of the approach proposed in this paper.     

STABILITY OF DIFFERENCE SCHEMES FOR NONLINEAR PARABOLIC SYSTEMS WITH THREE DIMENSIONS

1.Introduction1).Inthepresentworkwearegoingtostudythedeferenceschemesfortheboundaryvalueproblemofthenonlinearparabolicsystemsofpartialdifferentialequationswithtwoandthreespacedimensions.Inthecaseofthreespacedimension,thenonlinearparabolicsystemisoftheformat~A(x,y,z,t,u,aamactu.)(u.. aam u..) f(x,y,z,t,aliojac,u.),(1)whereu=(altuZI',urn)istheunknownm-dimensionalvectorfunction(m3l),A(x,yiitt,u,PI,pz,ps)isagivenmXmmatrixfunction,f(x,y,itt,utpl,p2,p3)isthegivenmdimensionalvectorfunctionandalso…     

PDα‐type distributed learning control for nonlinear fractional‐order multiagent systems

This paper considers the consensus tacking problem for nonlinear fractional‐order multiagent systems by presenting a PD^α‐type iterative learning control update law with initial learning mechanisms. The asymptotical convergence of the proposed distributed learning algorithm is strictly proved by using the properties of fractional calculus. A sufficient condition is derived to guarantee the whole multiagent system achieving an asymptotic output consensus. An illustrative example is given to verify the theoretical results.