Search results for "EPP"
showing 10 items of 427 documents
Adaptive Backstepping Control of a 2-DOF Helicopter
2019
This paper proposes an adaptive nonlinear controller for a 2-Degree of Freedom (DOF) helicopter. The proposed controller is designed using backstepping control technique and is used to track the pitch and yaw position references independently. A MIMO nonlinear mathematical model is derived for the 2DOF helicopter based on Euler-Lagrange equations, where the system parameters and the control coefficients are uncertain. Unlike some existing control schemes for the helicopter control, the developed controller does not require the knowledge on the system uncertain parameters. Updating laws are used to estimate the unknown parameters. It is shown that not only the global stability is guaranteed …
Distributed Adaptive Consensus Tracking Control of Uncertain High-order Nonlinear Systems under Directed Graph Condition
2018
In this paper, we investigate the output consensus tracking problem for a class of high-order nonlinear systems subjected to unknown parameters and uncertain external disturbances. A novel backstepping based distributed adaptive control scheme is presented under the directed communication status. For the subsystems without direct access to time-varying desired trajectory, local estimators are introduced and the corresponding adaptive laws are designed in a totally distributed fashion. With the presented scheme, the assumption on linearly parameterized reference signal and the information exchange operation of subsystem inputs in the existing results are no longer needed. It is shown that al…
Adaptive control of uncertain nonlinear systems with quantized input signal
2018
Abstract This paper proposes new adaptive controllers for uncertain nonlinear systems in the presence of input quantization. The control signal is quantized by a class of sector-bounded quantizers including the uniform quantizer, the logarithmic quantizer and the hysteresis quantizer. To clearly illustrate our approaches, we will start with a class of single-loop nonlinear systems and then extend the results to multi-loop interconnected nonlinear systems. By using backstepping technique, a new adaptive control algorithm is developed by constructing a new compensation method for the effects of the input quantization. A hyperbolic tangent function is introduced in the controller with a new tr…
Decentralized Adaptive Control for Interconnected Nonlinear Systems with Input Quantization
2017
Abstract In this paper, a decentralized adaptive control scheme is proposed for a class of uncertain nonlinear interconnected systems with input quantization. A hysteresis uniform quantization is introduced to reduce chattering. In the control design, a smooth function is introduced with backstepping technique to compensate for the effects of interactions. It is shown that the proposed decentralized adaptive controllers can ensure global boundedness of all the signals in the closed-loop interconnected systems and the tracking errors of subsystem converge to a residual, which can be adjusted by choosing suitable design parameters. Simulation results illustrate the effectiveness of the propos…
Adaptive Backstepping Control of Nonlinear Uncertain Systems With Quantized States
2019
This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresis-uniform quantizer, and logarithmic-uniform quantizer as examples. An adaptive backstepping-based control algorithm, which can handle discontinuity, resulted from the state quantization and a new approach to stability analysis are developed by constructing a new compensation scheme for the effects of the state quantization. Besides showing the global ultimate boundedness of the system, the stabilization error performance is also established and can be improved by appropriately adj…
Adaptive Neural Control of MIMO Nonstrict-Feedback Nonlinear Systems with Time Delay
2016
In this paper, an adaptive neural output-feedback tracking controller is designed for a class of multiple-input and multiple-output nonstrict-feedback nonlinear systems with time delay. The system coefficient and uncertain functions of our considered systems are both unknown. By employing neural networks to approximate the unknown function entries, and constructing a new input-driven filter, a backstepping design method of tracking controller is developed for the systems under consideration. The proposed controller can guarantee that all the signals in the closed-loop systems are ultimately bounded, and the time-varying target signal can be tracked within a small error as well. The main con…
Robust adaptive tracking control of uncertain systems with time-varying input delays
2017
ABSTRACTIn this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.
The genetic prehistory of the Baltic Sea region
2018
Correction: Nature communications 9 (2018), art. no. 1494 doi:10.1038/s41467-018-03872-y While the series of events that shaped the transition between foraging societies and food producers are well described for Central and Southern Europe, genetic evidence from Northern Europe surrounding the Baltic Sea is still sparse. Here, we report genome-wide DNA data from 38 ancient North Europeans ranging from similar to 9500 to 2200 years before present. Our analysis provides genetic evidence that hunter-gatherers settled Scandinavia via two routes. We reveal that the first Scandinavian farmers derive their ancestry from Anatolia 1000 years earlier than previously demonstrated. The range of Mesolit…
Ratiometric fluorescence live imaging analysis of membrane lipid order in Arabidopsis mitotic cells using a lipid order-sensitive probe
2016
SPE Pôle IPM; International audience; Eukaryotic cells contain membranes exhibiting different levels of lipid order mostly related to their relative amount of sterol-rich domains, thought to mediate temporal and spatial organization of cellular processes. We previously provided evidence in Arabidopsis thaliana that sterols are crucial for execution of cytokinesis, the last stage of cell division. Recently, we used di-4-ANEPPDHQ, a fluorescent probe sensitive to order of lipid phases, to quantify the level of membrane order of the cell plate, the membrane structure separating daughter cells during somatic cytokinesis of higher plant cells. By employing quantitative, ratiometric fluorescence …
Early cave art and ancient DNA record the origin of European bison
2016
The two living species of bison (European and American) are among the few terrestrial megafauna to have survived the late Pleistocene extinctions. Despite the extensive bovid fossil record in Eurasia, the evolutionary history of the European bison (or wisent, Bison bonasus) before the Holocene (<11.7 thousand years ago (kya)) remains a mystery. We use complete ancient mitochondrial genomes and genome-wide nuclear DNA surveys to reveal that the wisent is the product of hybridization between the extinct steppe bison (Bison priscus) and ancestors of modern cattle (aurochs, Bos primigenius) before 120 kya, and contains up to 10% aurochs genomic ancestry. Although undetected within the fossil re…