Search results for "Linear"
showing 10 items of 7165 documents
Fault-Reconstruction-Based Cascaded Sliding Mode Observers for Descriptor Linear Systems
2012
Published version of an article from the journal: Mathematical Problems in Engineering. Also available from the publisher:http://dx.doi.org/10.1155/2012/623426 This paper develops a cascaded sliding mode observer method to reconstruct actuator faults for a class of descriptor linear systems. Based on a new canonical form, a novel design method is presented to discuss the existence conditions of the sliding mode observer. Furthermore, the proposed method is extended to general descriptor linear systems with actuator faults. Finally, the effectiveness of the proposed technique is illustrated by a simulation example.
Mathematical modeling of a vehicle crash test based on elasto-plastic unloading scenarios of spring-mass models
2011
Published version of an article in the journal: The International Journal of Advanced Manufacturing Technology. Also available from the publisher on SpringerLink: htp://dx.doi.org/10.1007/s00170-010-3056-x This paper investigates the usability of spring which exhibit nonlinear force-deflection characteristic in the area of mathematical modeling of vehicle crash. We present a method which allows us to obtain parameters of the spring-mass model basing on the full-scale experimental data analysis. Since vehicle collision is a dynamic event, it involves such phenomena as rebound and energy dissipation. Three different spring unloading scenarios (elastic, plastic, and elasto-plastic) are covered…
LQG Control Design for Balancing an Inverted Pendulum Mobile Robot
2011
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…
Stability andl1-Gain Analysis for Positive 2D Systems with State Delays in the Roesser Model
2013
This paper considers the problem of delay-dependent stability andl1-gain analysis for positive 2D systems with state delays described by the Roesser model. Firstly, the copositive-type Lyapunov function method is used to establish the sufficient conditions for the addressed positive 2D system to be asymptotically stable. Then,l1-gain performance for the system is also analyzed. All the obtained results are formulated in the form of linear matrix inequalities (LMIs) which are computationally tractable. Finally, an illustrative example is given to verify the effectiveness of the proposed results.
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
2011
Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in th…
Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems
2013
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from the publisher at: http://dx.doi.org/10.1155/2013/734094 Open access Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. The performance and stability of the proposed control system are achieved analytically using the Lyapunov stability theory. Simulations show that the …
Linear instability of mixed convection of cold water in a porous layer induced by viscous dissipation
2009
Accepted version of an article published in the journal: International Journal of Thermal Sciences, Elsevier Published version available on Science Direct: http://dx.doi.org/10.1016/j.ijthermalsci.2008.06.012 An analysis of linear stability of the stationary laminar Darcy flow in a horizontal porous layer is performed. The porous layer is saturated with cold water. The upper plane boundary is assumed to be subject to heat transfer with finite conductance to an environment at the temperature of maximum density of cold water. The lower plane boundary is adiabatic. Convective instabilities are caused by flow viscous dissipation, inducing a basic temperature distribution that decreases in the u…
Observer-Based Stabilization of Stochastic Systems with Limited Communication
2012
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from Hindawi: http://dx.doi.org/10.1155/2012/781542 Open Access This paper studies the problem of observer-based stabilization of stochastic nonlinear systems with limited communication. A communication channel exists between the output of the plant and the input of the dynamic controller, which is considered network-induced delays, data packet dropouts, and measurement quantization. A new stability criterion is derived for the stochastic nonlinear system by using the Lyapunov functional approach. Based on this, the design procedure of observer-based controller is presented,which ensures asy…
D-Optimal Design for Parameter Estimation in Discrete-Time Nonlinear Dynamic Systems
2012
Published version of an article from the journal: Mathematical Problems in Engineering. Also available from the publisher:http://dx.doi.org/10.1155/2012/296701 An optimal input design method for parameter estimation in a discrete-time nonlinear system is presented in the paper to improve the observability and identification precision of model parameters. Determinant of the information matrix is used as the criterion function which is generally a nonconvex function about the input signals to be designed. To avoid the locally optimizing problem, a randomized designmethod is proposed bywhich a globally optimizing test plan other than input signals may be obtained. Then the randomized design ca…
Stability of Flow with Viscous Dissipation in a Horizontal Porous Layer with an Open Boundary Having a Prescribed Temperature Gradient
2010
Published version of an article in the journal: Transport in Porous Media. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11242-010-9588-6 A buoyancy-induced stationary flow with viscous dissipation in a horizontal porous layer is investigated. The lower boundary surface is impermeable and subject to a uniform heat flux. The upper open boundary has a prescribed, linearly varying, temperature distribution. The buoyancy-induced basic velocity profile is parallel and non-uniform. The linear stability of this basic solution is analysed numerically by solving the disturbance equations for oblique rolls arbitrarily oriented with respect to the basic velo…