Results 271 to 280 of about 945,861 (313)

Fuzzy Approximation-Based Finite-Time Control for a Robot With Actuator Saturation Under Time-Varying Constraints of Work Space

IEEE Transactions on Cybernetics, 2020
A finite-time control method is presented for $n$ -link robots with actuator saturation under time-varying constraints of work space. Barrier Lyapunov functions (BLFs) are designed for ensuring that the robot remains under time-varying constraints of the
Linghuan Kong, Wei He, Wenjing Yang, Qing Li, O. Kaynak   +4 more
semanticscholar   +1 more source

Analysis for Nested Actuator Saturation

2019
Properties of nested saturation are defined as for a poset to be the existence of a sequence of chain partitions in [142]. Nested saturation will arise if an actuator is subject to magnitude and rate saturation simultaneously [3]. A nested saturation function method is inherently improved to develop a controller, without requirements on memory of past ...
Hongjiu Yang, Yuanqing Xia, Qing Geng
openaire   +1 more source

Stability analysis for reconfigurable systems with actuator saturation

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
Discusses a combined analytic and simulation-based approach to assessing the stability of a control law in a system that may be subject to actuator saturation due to failures and subsequent reconfiguration. The analysis is based on linearized plant dynamics, a linearized state-feedback description of the nonlinear controller dynamics, and a nonlinear ...
Alec Bateman, David Ward, Jeffrey F. Monaco   +2 more
openaire   +1 more source

An LQR/LQG theory for systems with saturating actuators

IEEE Transactions on Automatic Control, 2001
A method for the synthesis of controllers intended to drive saturating actuators, referred to as SLQR/SLQG, where S stands for saturating, is developed. The method is a proper extension of the LQR/LQG methodology in the sense that when the saturation is relaxed, the SLQR/SLQG controllers reduce to their LQR/LQG counterparts. The development is based on
Cevat Gökçek, Pierre T. Kabamba, Semyon M. Meerkov   +2 more
openaire   +1 more source

Stability of Fuzzy Controllers Subject to Actuator Saturation

IFAC Proceedings Volumes, 1997
Abstract In this paper, the compensation of a closed-loop system with fuzzy control subject to actuator saturation is discussed. Condition for global stability of the compensated system is derived using a Lyapunov function based on the fuzzy model proposed by Takagi and Sugeno. Example is presented to illustrate the result.
Chan, CW, Qin, ZX, Zhang, HY, Cheung, KC
openaire   +2 more sources

Active Fault-Tolerant Control System Design for Spacecraft Attitude Maneuvers with Actuator Saturation and Faults

IEEE transactions on industrial electronics (1982. Print), 2019
This paper designs an active fault-tolerant control system for spacecraft attitude control in the presence of actuator faults, fault estimation errors, and control input constraints.
Qiang Shen, Chengfei Yue, C. Goh, Danwei W. Wang   +3 more
semanticscholar   +1 more source

Disturbance rejection in control systems with saturating actuators

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000
The authors consider a control system such that plant \(P(s)\) and controller \(C(s)\) have the following state-space representations \[ \dot x_p= A_0 x_p + B_1 w + B_2 v, \qquad z= C_1 x_p,\qquad y= C_2 x_p, \] and \[ \dot x_c= M x_c + L y, \qquad u= K x_c, \] where \(x_p\) and \(x_c\) are the states of the plant and the controller respectively and ...
Cevat Gökçek, Pierre T. Kabamba, Semyon M. Meerkov   +2 more
openaire   +2 more sources

A Robust Adaptive Model Reference Impedance Control of a Robotic Manipulator With Actuator Saturation

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020
This paper develops a robust adaptive model reference impedance controller for an ${n}$ -link robotic manipulator with parameter uncertainties, actuator saturation, and imprecise force sensor measurement.
Elaheh Arefinia, H. Talebi, A. Doustmohammadi   +2 more
semanticscholar   +1 more source

Neural network-based adaptive trajectory tracking control of underactuated AUVs with unknown asymmetrical actuator saturation and unknown dynamics

, 2020
In this paper neural-network (NN) based adaptive trajectory tracking control scheme has been designed for underactuated Autonomous Underwater Vehicles (AUVs) which are subjected to unknown asymmetrical actuator saturation and unknown dynamics.
Jialei Zhang, Xianbo Xiang, Qin Zhang, Li Weijia   +3 more
semanticscholar   +1 more source

Synthesis Algorithm for Control System with Saturated Actuator

Differential Equations and Control Processes
The paper presents a generalized algorithm for designing closed optimal systems with a dynamic controller and a nonlinear actuator. The purpose of the proposed algorithm is to identify the area of system performance degradation, manifested as unintentional oscillations, due to the influence of actuator nonlinearity and reduce this area.
Zaitceva, Iuliia Sergeevna, Andrievsky, Boris Rostislavich, Kuznetsov, Nikolay Vladimirovich   +2 more
openaire   +2 more sources