bluuebunny/crossref_metadata_2025_split huggingface dataset:
Quaternion Feedback Attitude Control Design: A NonlinearH∞Approach
Authors: Show Long‐Life , Juang Jyh‐Ching , Jan Ying‐Wen , Lin Chen‐Tzung 
Published: September 2010

ABSTRACTThe paper presents a quaternion feedback attitude control law for spacecraft attitude maneuver. A nonlinear feedback controller is designed to achieveL2gain performance,i.e., the resulting closed‐loop system is designed such that theL2gain from the exogenous disturbance to the performance measure is less than a scalar. The solution of the nonlinearH∞control problem is known to be related to the existence of a solution to the Hamilton‐Jacobi inequality. In the paper, a solution for spacecraft attitude control is conjectured and shown to satisfy theH∞criterion. The result generalizes existing methods in two regards: the proposed Hamilton‐Jacobi function is more general than existing ones and the resulting controller contains a nonlinear term that can be used to address the nonlinear couplings between quaternion terms. The method is applied to the ROCSAT‐3 orbit raising control problem to verify its effectiveness.
Mixed Constrained Infinite Horizon Linear Quadratic Optimal Control
Authors: Choi Jinhoon , Lee Kwang Soon 
Published: September 2010

ABSTRACTFor a given initial state, a constrained infinite horizon linear quadratic optimal control problem can be reduced to a finite dimensional problem [12]. To find a conservative estimate of the size of the reduced problem, the existing algorithms require the on‐line solutions of quadratic programs [10] or a linear program [2]. In this paper, we first show based on the Lyapunov theorem that the closed‐loop system with a mixed constrained infinite horizon linear quadratic optimal control is exponentially stable on proper sets. Then the exponentially converging envelop of the closed‐loop trajectory that can be computed off‐line is employed to obtain a finite dimensional quadratic program equivalent to the mixed constrained infinite horizon linear quadratic optimal control problem without any on‐line optimization. The example considered in [2] showed that the proposed algorithm identifies less conservative size estimate of the reduced problem with much less computation.
A New Delay‐Dependent Stability Criterion For Neutral Delay‐Differential Systems
Authors: Yang Bin , Wang Jincheng , Zhong Chongquan 
Published: September 2010

ABSTRACTThis paper investigates the problem of asymptotic stability for neutral delay‐differential systems. Using the Lyapunov method, we derive a new delay‐dependent sufficient condition for the stability of systems in terms of the linear matrix inequality (LMI). Numerical examples show that the results obtained in this paper significantly improve the estimate of stability limit over some existing results reported previously in the literature.
Visual Tracking For References Generated By A Stochastic Model
Authors: Kamiya T. , Doi M. , Mochiyama H. , Mori Y. 
Published: September 2010

ABSTRACTThis paper describes a visual tracking system for an unknown reference signal. A time‐varying reference signal is realized as a random process generated by an auto‐regressive (AR) model, which is identifed by a recursive algorithm. Based on the obtained AR model, the future value of reference signal is predicted. We propose a new visual tracking system using generalized minimum variance control (GMVC) and illustrate its properties through experiments.
DYNAMIC SLIDING MANIFOLDS FOR REALIZATION OF HIGH INDEX DIFFERENTIAL‐ALGEBRAIC SYSTEMS
Authors: Gordon Brandon W. 
Published: September 2010

ABSTRACTDifferential‐algebraic equation (DAE) systems present a number of difficult problems in nonlinear simulation and control. One of the key difficulties is that DAEs are not expressed in an explicit state space form required by many simulation and control design methods. In this paper, the problem is addressed using a new approach that constructs an explicit state space approximation of the DAEs using a sliding controller. The state space model can in turn be used with existing nonlinear control and simulation methods. This procedure, known as realization, is achieved by developing a boundary layer sliding controller with a dynamic sliding manifold. The approach builds on previous realization methods proposed by the author that employ a static sliding control surface. The approach is generalized by employing a dynamic sliding manifold which allows much greater freedom in determining optimality, robustness, and convergence of the realization than previous methods allow. The necessary criteria for key properties such as convergence, stability, and controllability of this new method are proven using a special type of sliding normal form. Furthermore, the important property of observability for sliding realizations is established for the first time by analyzing the convergence of local eigenvectors of the approximation. Together these results establish a new general framework for realization of a large class of nonlinear high index DAE systems.
STABILIZATION OF SWITCHED LINEAR SYSTEMS
Authors: Zhang Lijun , Cheng Daizhan , Liu Jiang B. 
Published: September 2010

ABSTRACTThis paper addresses stabilization of switched linear control systems with unstabilizable individual switching models. First we consider the stabilization of switched systems via a controllable switching strategy. Then stabilization by both controls and switching laws is investigated. Certain sufficent conditions are obtained.ABSTRACT
UNIVERSAL OUTPUT‐FEEDBACK SISO CONTROLLERS
Authors: Levant Arie 
Published: September 2010

ABSTRACTIt is proved in the paper that practically all known higher‐order sliding controllers can be combined with recently developed 2‐sliding‐mode‐based differentiators yielding universal output‐feedback Single‐Input‐Single‐Output (SISO) controllers. These controllers can be applied at least locally, whenever the system relative degree is known. The convergence is global, provided the system relative degree is permanent and few boundedness restrictions hold. No detailed mathematical model of the system is needed. The proposed output‐feedback controller provides for the exact finite‐time‐convergent output tracking of real‐time‐given smooth signals if the output measurements are exact. Otherwise the tracking accuracy is proportional to the magnitude of the sampling noise. The control may be made arbitrarily smooth, thereby removing the chattering effect. The theoretical results are illustrated by computer simulation.
ROBUST VIBRATION CONTROL FOR FLEXIBLE ARMS USING THE SLIDING MODE METHOD
Authors: Chen Xinkai , Su Chun‐Yi , Fukuda Toshio 
Published: September 2010

ABSTRACTThe vibration control of flexible arms is accomplished here using the sliding mode method, where the traditional discontinuous approach is modified by a differentiable one. The higher order modes of the flexible arm are treated as disturbances and are compensated by introducing a disturbance observer. Simplified expressions of the motor angular and the strain moment for the flexible arm with a disturbance observer are obtained, where the remaining disturbance and the model uncertainties are considered as system uncertainties. The robustness of the sliding mode control is effectively employed to cope with the system uncertainties, where the bounds of the uncertainties are adaptively updated. The proposed control law simultaneously causes the motor angular to track a desired signal and the strain moment to approach zero. The stability of the controlled flexible arm is analyzed based on the obtained important fact that a part of the control input is the approximate estimate of a special signal generated by the uncertainty. The motor angular tracking error and the converging speed of the controlled signals are determined by means of design parameters. Experimental results demonstrate the robustness of the proposed method.
CONTROL OF INTERCONNECTED JUMPING SYSTEMS: AN H∞ APPROACH
Authors: Mahmoud Magdi S. , Shi Peng , Ismail Abdulla 
Published: September 2010

ABSTRACTThis paper investigates, by using an approach, the problems of stochastic stability and control for a class of interconnected systems with Markovian jumping parameters. Both cases of finite‐ and infinite‐horizon are studied. It is shown that the problems under consideration can be solved if a set of coupled differential or algebraic Riccati equations are solvable.
PERFORMANCE ANALYSIS OF CONTROL SYSTEMS WITH INPUT CONSTRAINTS VIA PIECEWISE QUADRATIC STORAGE FUNCTIONS
Authors: Morinaga Eiji , Hirata Kenji , Ohta Yoshito 
Published: September 2010

ABSTRACTInput constraints exist in almost all real‐world systems and frequently cause unexpected undesirable phenomena, such as performance degradation or instability. Although many studies have focused on this problem, precise performance analysis of whole control systems with constraints is still difficult. In this paper, such control systems are represented as piecewise affine systems, and global and local L2 incremental gain analysis methods via piecewise quadratic storage functions are presented.
DECENTRALIZED CONTROL OF GENERALIZED SYSTEMS VIA A FREQUENCY DOMAIN APPROACH
Authors: Gao Zhiwei , Liu Wanquan , So Albert T. P. 
Published: September 2010

ABSTRACTIn this paper, the decentralized control of generalized systems is considered via a frequency domain approach. Firstly, based on the design of generalized decentralized observer‐based controllers, a state‐space representation of the decentralized Bezout identity is developed for generalized decentralized control systems with two control channels. Secondly, all the stabilizing decentralized controllers are parameterized. Thirdly, a design procedure is proposed, and an example is given to illustrate the design procedure.
VIBRATION CONTROL OF A SMART STRUCTURE USING PERIODIC OUTPUT FEEDBACK TECHNIQUE
Authors: Manjunath T. C. , Bandyopadhyay B. 
Published: September 2010

ABSTRACTActive vibration control is an important problem in structures. One of the ways to tackle this problem is to make the structure smart, adaptive and self‐controlling. The objective of active vibration control is to reduce the vibration of a system by automatic modification of the system's structural response. This work features the modeling and design of a Periodic Output Feedback (POF) control technique for the vibration control of a smart flexible cantilever beam system for a Single Input Single Output case. A POF controller is designed for the beam by bonding patches of piezoelectric layer as sensor/actuator to the master structure at different locations along the length of the beam. The entire structure is modeled in state space form using the Finite Element Method by dividing the structure into 3, 4, 5 elements, thus giving rise to three types of systems, viz., system 1 (beam divided into 3 finite elements), system 2 (4 finite elements), system 3 (5 finite elements).POF controllers are designed for the above three types of systems for different sensor/actuator locations along the length of the beam by retaining the first two vibratory modes. The smart cantilever beam model is developed using the concept of piezoelectric bonding and Euler‐Bernouli theory principles. The effect of placing the sensor/actuator at various locations along the length of the beam for all the three types of systems considered is observed and the conclusions are drawn for the best performance and for the smallest magnitude of the control input required to control the vibrations of the beam. The tip displacements with the controller is obtained. Performance of the system is also observed by retaining the first 3 vibratory modes and the conclusions are drawn.
H2 CONTROLLER DESIGN FOR NETWORKED CONTROL SYSTEMS
Authors: Lu Lilei , Xie Lihua , Cai Wenjian 
Published: September 2010

ABSTRACTThis paper deals with the problem of designing an H2 controller for a networked control system (NCS) with communication delays from the sensor to the controller and/or from the controller to the plant. Our objective is to design a robust controller that will not only stabilize the system but also achieve a sub‐opti‐ mal H2 performance in the face of possible communication delays. Both the state feedback control and output feedback control are considered. The feedback control problem for the original system is first converted to a static output feedback control problem. A recursive linear matrix inequality (LMI) algorithm is then presented to compute a state or output feedback H2 controller for the system. Our approach allows a fixed order controller. Numerical examples are given to demonstrate the effectiveness of the proposed approach.
FEEDBACK STABILIZATION OF NONHOLONOMIC CONTROL SYSTEMS WITH DRIFT
Authors: Rehman Fazalur 
Published: September 2010

ABSTRACTThis paper presents a differential geometric approach for feedback stabilization of nonholonomic control systems with drift and its applicability is tested on two different systems possessing different algebraic structures: a system with six state variables and three controls, and a knife edge example. The approach is universal in the sense that it is independent of the vector fields determining the motion of the system, or of the choice of a Lyapunov function. The proposed feedback law is as a composition of a standard stabilizing feedback control for a Lie bracket extension of the original system and a periodic continuation of a specific solution to an open loop control problem stated for an abstract equation on a Lie group, an equation which describes the evolution of flows of both the original and extended systems. The open loop problem is solved as a trajectory interception problem in logarithmic coordinates of flows.
STABILITY AND H∞ DISTURBANCE ATTENUATION ANALYSIS FOR LTI CONTROL SYSTEMS WITH CONTROLLER FAILURES
Authors: Zhai Guisheng , Chen Xinkai , Takai Shigemasa , Yasuda Kazunori 
Published: September 2010

ABSTRACTIn this paper, we analyze stability and H∞ disturbance attenuation properties for linear time‐invariant (LTI) systems controlled by a pre‐designed dynamical output feedback controller which fails from time to time due to physical or purposeful reasons. Our aim is to find conditions concerning the controller failure time, under which the system's stability and H∞ disturbance attenuation properties are preserved to a desired level. For stability, by using a piecewise Lyapunov function, we show that if the unavailability rate of the controller is smaller than a specified constant and the average time interval between controller failures (ATBCF) is large enough, then the global exponential stability of the system is guaranteed. For H∞ disturbance attenuation, also by using a piecewise Lyapunov function, we show that if the unavailability rate of the controller is smaller than a specified constant, then a system with an ATBCF achieves a reasonable weighted H∞ disturbance attenuation level, and the weighted H∞ disturbance attenuation approaches normal H∞ disturbance attenuation when the ATBCF is sufficiently large.
STABILITY CRITERIA FOR A CLASS OF NEUTRAL SYSTEMS VIA THE LMI APPROACH
Authors: Lien Chang‐Hua , Chen Jenq‐Der 
Published: September 2010

ABSTRACTIn this paper, the asymptotic stability for a class of neutral systems with multiple discrete and distributed time delays is investigated. The Lyapunov stability theory is applied to guarantee the stability of the systems. The linear matrix inequality (LMI) approach is used to improve our results. By means of some mathematical analysis, the presented conditions are proved to be less conservative and flexible than some recent reports. A numerical example is given to illustrate the use of our results.
INPUT‐STATE LINEARIZATION OF A ROTARY INVERTED PENDULUM
Authors: Chen Chih‐Keng , Lin Chih‐Jer , Yao Liang‐Chun 
Published: September 2010

ABSTRACTThe aim of this paper is to design a nonlinear controller for the rotary inverted pendulum system using the input‐state linearization method. The system is linearized, and the conditions necessary for the system to be linearizable are discussed. The range of the equilibriums of the system is also investigated. Further, after the system is linearized, the linear servo controllers are designed based on the pole‐placement scheme to control the output tracking problem. The performance of the controller is studied with different system parameters. The computer simulations demonstrate that the controller can effectively track the reference inputs.
ROBUST TWO‐DEGREE‐OF‐FREEDOM CONTROL OF AN ATOMIC FORCE MICROSCOPE
Authors: Schitter G. , Stemmer A. , Allgöwer F. 
Published: September 2010

ABSTRACTThe performance of an atomic force microscope (AFM) is improved substantially by utilizing modern model‐based control methods in comparison to a standard proportional‐integral (PI) controlled AFM system. We present the design and implementation of a two‐degree‐of‐freedom (2DOF)‐controller to accomplish topography measurements at high scan‐rates with reduced measurement error. An H∞‐controller operates the AFM system in a closed loop while a model‐based feedforward controller tracks the scanner to the last recorded scan‐line. Experimental results compare the actual performance of the standard PI‐controlled AFM and the 2DOF controlled system. The new controller reduces the control error considerably and enables imaging at higher speeds and at weaker tip‐sample interaction forces.
CONTROL ISSUES IN HIGH‐SPEED AFM FOR BIOLOGICAL APPLICATIONS: COLLAGEN IMAGING EXAMPLE
Authors: Zou Q. , Leang K. K. , Sadoun E. , Reed M. J. , Devasia S. 
Published: September 2010

ABSTRACTThis article considers the precision positioning problem associated with high‐speed operation of the Atomic Force Microscope (AFM), and presents an inversion‐based control approach to achieve precision positioning. Although AFMs have high (nanoscale) spatial resolution, a problem with current AFM systems is that they have low temporal resolution, i.e., AFM imaging is slow. In particular, current AFM imaging cannot be used to provide three‐dimensional, time‐lapse images of fast processes when imaging relatively‐large, soft samples. For instance, current AFM imaging of living cells takes 1–2 minutes (per image frame) — such imaging speeds are too slow to study rapid biological processes that occur in seconds, e.g., to investigate the rapid movement of cells or the fast dehydration and denaturation of collagen. This inability, to rapidly image fast biological processes, motivates our current research to increase the operating speed of the AFM. We apply an inversion‐based feedback/feedforward control approach to overcome positioning problems that limit the operating speed of current AFM systems. The efficacy of the method, to achieve high‐speed AFM operation, is experimentally evaluated by applying it to image collagen samples.
MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN CONTROL
Authors: Kalyanasundaram Suresh , Chong Edwin K. P. , Shroff Ness B. 
Published: September 2010

ABSTRACTSolution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per‐unit‐time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max‐min optimal policy, which maximizes the worst‐case average per‐unit‐time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time‐varying transition rates.
MARKING ESTIMATION OF PETRI NETS WITH PAIRS OF NONDETERMINISTIC TRANSITIONS
Authors: Giua Alessandro , Seatzu Carla , Júlvez Jorge 
Published: September 2010

ABSTRACTWe present a technique for estimating the marking of a Petri net based on the observation of transition labels. In particular, the main contribution of the paper consists in deriving a methodology that can handle the case of nondeterministic transitions, i.e., transitions that share the same label. Under some technical assumptions, the set of markings consistent with an observation can be represented by a linear system with a fixed structure that does not depend on the length of the observed word.
VS‐CONTROL WITH TIME‐VARYING SLIDING SECTOR — DESIGN AND APPLICATION TO PENDULUM —
Authors: Suzuki Satoshi , Pan Yaodong , Furuta Katsuhisa , Hatakeyama Shoshiro 
Published: September 2010

ABSTRACTIn general, a Variable Structure (VS) system is designed with a sliding mode. Recently a sliding sector, designed by an algebraic Riccati equation, has been proposed to replace the sliding mode for chattering‐free VS controllers. In this paper we extend the design algorithm for the sliding sector to a time‐varying sliding sector. The time‐varying sliding sector is defined by functions dependent on both state and time, hence time‐varying uncertainty can be considered. The VS controller is designed to stabilize an uncertain system, quadratically. The design procedure for real systems is introduced via an implementation to the control of “Furuta pendulum”. To enhance the stability it is necessary to compensate the time‐varying nonlinear static friction of the actuator adequately, hence this problem is a good example to demonstrate the performance of the proposed VS control method. In the experiment, it will be shown that the VS control with the time‐varying sliding sector is superior to an orthodox chattering‐free VS control.
DESIGN OF A FLIGHT CONTROLLER FOR HYPERSONIC FLIGHT EXPERIMENT VEHICLE
Authors: Ochi Yoshimasa 
Published: September 2010

ABSTRACTNational Aerospace Laboratory (NAL) and National Space Development Agency (NASDA) of Japan launched a hypersonic flight experiment vehicle (HYFLEX) for flight experiment of reentry phase to the top of the atmosphere in 1996. Flight condition in the experiment varied from an altitude of 107km and a speed of Mach 15 to an altitude of 30km and a speed of Mach 2. This paper describes design of a flight control system of the HYFLEX and evaluation of robustness against variations of command inputs and aerodynamic coefficients. A nonlinear simulation model that describes the vehicle motion has been made using the data obtained from wind tunnel experiments by NAL and NASDA. Linear models are computed from the nonlinear model for every second of the flight, assuming that the flight is a quasi‐trimmed one. Because the vehicle has a cylinder‐like configuration and takes a large angle of attack and a bank angle, coupling between longitudinal and lateral‐directional motions cannot be neglected; hence, the linear models include coupling terms. Averaging the linear models yields a nominal model for controller design, where the type‐1 linear quadratic (LQ) servo controller is employed for attitude control. Since the flight condition varies so much, it is difficult to control the vehicle using a single set of control gains. Therefore the flight period is segmented into eight intervals, for each of which a nominal linear model is computed, and then eight sets of feedback gain matrices are computed and scheduled as a function of flight time. The effectiveness and robustness of the flight control system are examined through computer simulation. Simulation results indicate that the control system works well even when attitude commands and aerodynamic parameters considerably deviate from nominal ones.