摘要:

Using the integrator back-stepping approach, we develop full state feedback, adaptive position tracking controllers for the permanent-magnet stepper motor and the brushless d.c. motor turning robotic loads. The proposed controllers ensure global asymptotic position tracking despite parametric uncertainty throughout the entire electromechanical system. In addition, the overparametrization problem commonly associated with back-stepping-type controllers is greatly reduced. Experimental results are used to validate the performance of the proposed approach.

ISSN:0020-7179    

DOI:10.1080/00207179608921672

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

A bilinear fault detection observer is proposed for bilinear systems with unknown input. A sufficient condition for the existence of the observer is given. The residual generated by this observer is decoupled from the unknown input. The method is applied to a hydraulic test rig to detect and isolate a large group of simulated faults. The effectiveness of the method in fault detection and isolation for the hydraulic system is demonstrated by real data simulation.

ISSN:0020-7179    

DOI:10.1080/00207179608921673

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

Expressions for the output frequency characteristics of nonlinear systems are derived for both multitone and general inputs to provide a natural extension of the linear relationship Y(jω)  =  H lpar;jω) U lpar;jω). Algorithms for computing the frequency range produced by arbitrary order nonlinear outputs are also described as an extension to the well known concept in linear systems that the frequency range of the system output is the same as that of the corresponding input. The results are shown to provide important insight into the frequency domain properties of nonlinear systems.

ISSN:0020-7179    

DOI:10.1080/00207179608921674

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper presents a design method for a class of fuzzy control systems. The class of fuzzy systems considered can be represented by the Takagi-Sugeno fuzzy model which is a type of dynamic fuzzy model. A constructive algorithm is developed to obtain the stabilizing feedback control law for the system. The main contribution of this paper is the development of an equivalent principle; that is,the design of a fuzzy control system is equivalent to the design of a set of linear time-invariant ‘extreme’ systems. Thus any design method in linear control system theory can be used to design a fuzzy control system. An example is given to illustrate the application of the method.

ISSN:0020-7179    

DOI:10.1080/00207179608921675

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This work treats the analysis of two adaptive systems described by error models. The desired but unknown parameters of each adaptive system are, however, not independent. In general, only linear constraints upon these parameters are considered, although a constant but unknown scalar that introduces some non-linearities is acceptable within the given constraint. The necessity of this analysis frequently arises, in the areas of both adaptive control and parameter estimation. It is shown that, if the relationship between ideal parameters is linear, it is then possible to find coupled adaptive laws such that the overall adaptive system is globally stable for each type of known error model. Simulations show that the parameter estimation is generally much closer using coupled adaptive laws than those not incorporating the information contained within the constraint.

ISSN:0020-7179    

DOI:10.1080/00207179608921676

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

We propose two new methods for solution of the eigenvalue assignment problem associated with the second-order control system \global\hsize=30pc

ISSN:0020-7179    

DOI:10.1080/00207179608921677

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper is concerned with the algebraic Riccati equations (AREs) related to theH∞filtering problem. A necessary and sufficient condition for theH∞problem to be solvable is that theH∞ARE has a positive semidefinite stabilizing solution with an additional condition that a certain matrix is positive definite. It is shown that such a stabilizing solution is a monotonically non-increasing convex function of the prescribedH∞norm bound γ. This property of theH∞ARE is very important for the analysis of the performance of theH∞filter. In this paper, the size of the set of allH∞filters is considered on the basis of the monotonicity of the above Riccati solution. It turns out that, under a certain condition, the degree of freedom of theH∞filter reduces a1 the optimalH∞norm bound. These results provide a guideline for selecting the value of γ Some numerical examples are included.

ISSN:0020-7179    

DOI:10.1080/00207179608921678

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

The problem of output feedback linear quadratic regulator synthesis with regional pole constraints is studied. The synthesis algorithm is presented and its convergence is also proved. The effectiveness of the algorithm is illustrated by an example.

ISSN:0020-7179    

DOI:10.1080/00207179608921679

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

The design of a model reference adaptive controller with terminal sliding modes, while only input and output measurements are available, is discussed in this paper. In terminal sliding modes, the equilibrium point is reached in a finite time. By employing terminal sliding modes, the model reference adaptive controller enables the error dynamics to reach zero in a finite time. State variable filters are used to obtain differentiator-free controllers. Simulation results are presented to confirm the discussion.

ISSN:0020-7179    

DOI:10.1080/00207179608921680

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper discusses the robustL2-gain performance synthesis problem for a class of nonlinear uncertain systems. It is shown that the Riccati equation approach toH∞robust performance synthesis can be extended to solve this problem. Based on a positive definite solution of a Riccati inequality, a sufficient condition is given such that the nonlinear uncertain system is robust stable and itsL2gain is less than one. Using this condition, a state feedback law which ensures robustL2-gain performance of the closed-loop system is derived. The state feedback law is equivalent to the solution of anH∞standard design problem for an extended plant parametrized by scaling parameters. Finally, a design example and simulation results are given.

ISSN:0020-7179    

DOI:10.1080/00207179608921681

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor