Robust exponential stability of uncertain discretetime impulsive switching systems with state delay

A new class of hybrid impulsive and switching models are introduced and their robust exponential stability and control synthesis are addressed. The proposed switched system is composed of stable subsystems and unstable subsystems, which not only involves state delay and norm-bounded time-varying parameter uncertainties, but also contains the impulsive switching effects between the subsystems. Based on the extension of the system dimension and the concept of average dwell time, a kind of practically useful switching rule is presented which guarantees the desired robust exponential stability. A switched state feedback controller is also given.

Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration

Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a nonlinear cascade system with a minimum phase. Then, the stabilization of the cascade system is further processed into an equivalent stabilization of a reduced-order nonholonomic-like system. A discontinuous stabilization control method is proposed through a combination of state-scaling and state-dependent function transformations, nonlinear filters, and switching technologies. Stability analysis demonstrates that under the newly designed stabilization controller, the closed-loop system states are bounded and the desired state constraints are not violated.

Adaptive control of linear multivariable systems with high frequency gain matrix hurwitz

A new adaptive control scheme is proposed for multivariable model reference adaptive control （MRAC） systems based on the nonlinear backstepplng approach with vector form. The assumption on a priori knowledge of the high frequency gain matrix in existing results is relaxed and the new required condition for the high frequency gain matrix can be easily checked for certain plants so that the proposed method is widely applicable. This control scheme guarantees the global stability of the closed-loop systems and the tracking error can be arbitrary small. The simulation result for an application example shows the validity of the proposed nonlinear adaptive scheme.

Modeling and adaptive motion/force tracking for vertical wheel on rotating table

This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the development of tracking controller,the dynamic model of the wheel in question is derived in a meticulous manner. A continuously differentiable friction model is also considered in the modeling. By exploiting the inherent cascade interconnected structure of the wheel dynamics, an adaptive motion/force tracking controller is presented guaranteeing that the trajectory tracking errors asymptotically converge to zero while the contact force tracking errors can be made small enough by tuning design parameters. Simulation results are provided to validate the effectiveness of the proposed tracking methodology.

ADAPTIVE PRACTICAL OUTPUT MANEUVERING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS

这份报纸处理与控制不了的不稳定的 linearization 为非线性的系统的一个类调遣 controlproblems 的适应实际输出。设计一个光滑的适应调遣控制器解决几何、动态的任务 withan 的 objectiveis 任意的小稳定的追踪错误。增加一个力量综合者和 robustrecursive 设计技术的方法被采用强迫系统产量追踪一条需要的路径和 makethe 追踪速度沿着路径跟随需要的速度。一个例子被考虑， simulationresults 被给。建议设计过程能被这个例子的使用说明。

GLOBAL ASYMPTOTIC REGULATION CONTROL FOR NONLINEAR SYSTEMS WITH iISS INVERSE DYNAMICS

This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic uncertainties.The requirement of a priori knowledge of control directions is removed and the inverse dynamics satisfy the weaker integral input-to-state stable condition.By application of the changing supply rates and the Nussbaum-type gain techniques,a partial state-feedback regulator is constructed.The main results demonstrate that the designed controller ensures the system state converges to the origin whereas the other signals of the closed-loop system are bounded. Simulation results are illustrated to show the effectiveness of the proposed approach.

OUTPUT-FEEDBACK CONTROL FOR NONHOLONOMIC SYSTEMS WITH LINEAR GROWTH CONDITION

这份报纸与强烈非线性的无常处理 nonholonomic 系统的稳定。目的是设计一条产量反馈法律以便靠近环的系统 asymptotically 全球性在起源被调整。系统的策略联合与 backstepping 技术放大技术的输入状态。基于第一个分系统的输出测量交换控制策略的一篇小说被采用远做分系统离开起源。模拟表明建议控制器的有效性。

OUTPUT FEEDBACK CONTROL FOR MIMO NONLINEAR SYSTEMS WITH EXOGENOUS SIGNALS

纸探讨非线性的系统由骚乱影响了的 multi-inputmulti-output (MIMO ) 的一个类追踪的全球输出，它被 knownexosystem 产生。一个适应控制器基于建议观察员和 backsteppingapproach 被设计 asymptotically 追踪任意的引用信号并且在关上的循环系统保证所有信号的围住的海角。最后，数字模拟结果说明建议计划的有效性。

Robust integral control for a class of nonlinear systems with unknown control coefficients

The robust integral control problem is studied for a class of nonlinear systems with input-to-state stable （ISS） unmodeled dynamics in this paper. It does not require a priori knowledge of the control coefficients. Combining the Nussbaum-type gain technique and the backstepping design, we propose a state feedback controller, which could achieve the global asymptotic tracking for any constant reference signal, irrespective of the unmeasured dynamic disturbance. It is shown that the proposed methodology further extends the existing robust nonlinear integral control results. Simulation results verify the correctness of the theoretical analysis.

Control of nonholonomic systems with nonlinear unmeasured dynamics by output feedback

This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by high-order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together with a switching control scheme, the designed controller guarantees that the closed-loop system is output feedback globally asymptotically stabilized and the states converge to zero asymptotically. A simulation example is provided to illustrate the validness of the proposed approach.