Showing papers by "Ye-Hwa Chen published in 1991"
TL;DR: In this article, the authors considered a design of decentralized control for a class of interconnected non-linear dynamical systems having uncertainty, and proposed two control schemes, namely the linear and the nonlinear, take the bounds of the interconnections into account.
Abstract: We consider a design of decentralized control for a class of interconnected non-linear dynamical systems having uncertainty. This uncertainty is (possibly fast) time-varying, and it may appear in each system as uncertain parameter and input disturbance. It also may appear in the interconnections. No statistical information about the uncertainty is imposed; only its possible bound is assumed to be known. The two control schemes proposed here, namely the linear and the non-linear, take the bounds of the interconnections into account. The use of the non-linear control requires more assumptions than the use of linear control. In applications where these assumptions are met, the designers have both controls at their disposal, and depending on the particular application, one may be preferable to the other.
121 citations
11 Dec 1991
TL;DR: A Lyapunov function based robust controller is incorporated with a feedback linearization technique to guarantee practical stability of a class of nonlinear systems with time-varying uncertain parameters.
Abstract: The problem of stabilization of a class of nonlinear systems with time-varying uncertain parameters is considered. The uncertainty is unknown but lies within a prescribed set. The nominal system is assumed to be feedback-equivalent to a controllable-like canonical form. A Lyapunov function based robust controller is incorporated with a feedback linearization technique to guarantee practical stability. >
26 citations
TL;DR: This work considers the tracking control problem of mechanical manipulators in the presence of uncertainty and proposes two classes of control algorithms that guarantee the tracking error to converge to zero.
Abstract: We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.
13 citations
9 citations
11 Dec 1991
TL;DR: Two classes of decentralized robust controls, namely, nonadaptive and adaptive, are presented for a class of uncertain interconnected nonlinear systems and more assumptions are imposed on the structure of the uncertainty for the use of adaptive control.
Abstract: Two classes of decentralized robust controls, namely, nonadaptive and adaptive, are presented for a class of uncertain interconnected nonlinear systems. The uncertainty considered here is time-varying and appears at each system and interconnections. No statistical information of the uncertainty is invoked. The possible bound of the uncertainty is assumed to be known for the nonadaptive robust control. For the adaptive control, the bound is unknown and the adaptive scheme tracks the bound. Compared with nonadaptive control, more assumptions are imposed on the structure of the uncertainty for the use of adaptive control. These assumptions include that no uncertainty appears in the input matrix. >
8 citations