Mixed H2/H∞ control for nonlinear time-varying systems with application to robotic systems

1997 ◽  
Author(s):  
D. Georges
Keyword(s):  
Robotic Systems ◽  
Time Varying ◽  
Time Varying Systems

scholarly journals A Single Differential Equation for First-Excursion Time in a Class of Linear Systems

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
Matthew B. Greytak ◽  
Franz S. Hover
Keyword(s):  
Structural Dynamics ◽  
Closed Loop ◽  
Damping Ratio ◽  
Robotic Systems ◽  
Time Varying ◽  
Stochastic Environments ◽  
Closed Loop Systems ◽  
Time Varying Systems ◽  
Major Application ◽  
Excursion Time

First-excursion times have been developed extensively in the literature for oscillators; one major application is structural dynamics of buildings. Using the fact that most closed-loop systems operate with a moderate to high damping ratio, we have derived a new procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should be useful for autonomous robotic systems involving marine and air vehicles.

Krein Space-based Hθ Fault Estimation for Linear Discrete Time-varying Systems

2009 ◽  
Vol 34 (12) ◽  
pp. 1529-1533 ◽  
Author(s):  
Mai-Ying ZHONG ◽  
Shuai LIU ◽  
Hui-Hong ZHAO
Keyword(s):  
Discrete Time ◽  
Krein Space ◽  
Fault Estimation ◽  
Time Varying ◽  
Time Varying Systems ◽  
Kreĭn Space

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

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