Robust Control for Fuzzy Dynamical Systems: Uniform Ultimate Boundedness and Optimality

2012 ◽  
Vol 20 (6) ◽  
pp. 1022-1031 ◽  
Author(s):  
Jin Huang ◽  
Ye-Hwa Chen ◽  
Aiguo Cheng
1994 ◽  
Vol 116 (1) ◽  
pp. 17-23 ◽  
Author(s):  
Sandeep

In this paper a class of nonlinear uncertain dynamical systems, which do not satisfy the matching conditions, is considered. This class of mismatched systems is more general than one considered earlier. A sufficient condition, in terms of a critical mismatch threshold, is given, which ensures uniform boundedness and uniform ultimate boundedness. The theory is illustrated by an example of controlled aircraft take-off under windshear conditions.


2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Xinrong Zhang ◽  
Ruiying Zhao ◽  
Jie Ma ◽  
Chul-Hee Lee

AbstractA novel robust approach for the obedience control of Furuta pendulum with uncertainty is proposed. The uncertainty considered in this paper is (possibly fast) time-varying and bounded, which may exist in any stage of the pendulum subsystem. By the Lagrangian formulation of the nonlinear pendulum system, a robust control, based on a general Lyapunov function, is designed to render the Furuta pendulum a position obedience. As a consequence of the Lyapunov approach, the control design is not restricted to linearize the pendulum system. The system performance under the proposed control is guaranteed as uniform boundedness and uniform ultimate boundedness. The salient features of this new control are demonstrated both analytically and numerically. The experiment is conducted in the Furuta pendulum system to prove the validity and effectiveness of the control design.


2020 ◽  
Vol 103 (3) ◽  
pp. 003685042095221
Author(s):  
Yating Zhao ◽  
Xiaolong Chen ◽  
Han Zhao

This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.


2005 ◽  
Vol 164 (2) ◽  
pp. 555-572 ◽  
Author(s):  
Taih-Shyun Lee ◽  
Ye-Hwa Chen ◽  
Jason C.-H. Chuang

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