Structure Regulator for the Perturbations Attenuation in a Quadrotor
José de Jesús Rubio,Genaro Ochoa,Dante Mújica-Vargas,Enrique Garcia,Ricardo Balcazar,Israel Elias,David Ricardo Cruz,Cesar Felipe Juarez,Arturo Aguilar,Juan Francisco Novoa +9 more
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TLDR
The structure regulator for the perturbations attenuation which is based on the infinite structure regulator is studied and it is applied to a quadrotor which maintains the horizontal position with respect to the earth for the step and sine perturbation.Abstract:
In this work, we study the structure regulator for the perturbations attenuation which is based on the infinite structure regulator. The structure regulator is able to attenuate the perturbations if the transfer function of the departures and perturbations has a numerical value almost equal to zero, and it does not require the perturbations to attenuate them. We apply the structure regulator and the infinite structure regulator to a quadrotor which maintains the horizontal position with respect to the earth for the step and sine perturbations.read more
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Stabilization of Robots With a Regulator Containing the Sigmoid Mapping
Dany Ivan Martinez,José Jesús De Rubio,Tomás Vargas,Victor Garcia,Genaro Ochoa,Ricardo Balcazar,David Ricardo Cruz,Arturo Aguilar,Juan Francisco Novoa,Carlos Aguilar-Ibanez +9 more
TL;DR: This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping and the chattering is reduced by the usage of the saturation mapping instead of the signum mapping.
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Synchronization Analysis for Stochastic T-S Fuzzy Complex Networks with Markovian Jumping Parameters and Mixed Time-Varying Delays via Impulsive Control
TL;DR: This paper proposes and explores the synchronization examination for fuzzy stochastic complex networks’ Markovian jumping parameters portrayed by Takagi-Sugeno (T-S) fuzzy model with mixed time-varying coupling delays via impulsive control, and establishes equal conditions for the synchronization criteria for the frameworks in terms of linear matrix inequalities (LMIs).
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Adaptive Reinforcement Learning Strategy with Sliding Mode Control for Unknown and Disturbed Wheeled Inverted Pendulum
Phuong Nam Dao,Yen-Chen Liu +1 more
TL;DR: A novel adaptive integral sliding-mode control (SMC) technique to improve the tracking performance of a wheeled inverted pendulum (WIP) system, which belongs to a class of continuous time systems with input disturbance and/or unknown parameters.
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The Perturbations Estimation in Two Gas Plants
José de Jesús Rubio,Dany Ivan Martinez,Victor Garcia,Guadalupe Juliana Gutierrez,Tomás Vargas,Genaro Ochoa,Ricardo Balcazar,Jaime Pacheco,Jesus Alberto Meda-Campana,Dante Mújica-Vargas +9 more
TL;DR: In this article, an estimator is studied for the variables and perturbations estimation in nonlinear plants and the saturation map is used in the estimator instead of the signum map to decrease the chattering.
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Driverless Bus Path Tracking Based on Fuzzy Pure Pursuit Control with a Front Axle Reference
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References
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Journal ArticleDOI
Second order sliding mode control for a quadrotor UAV.
TL;DR: A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces.
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Nonfragile $H_{\infty}$ Filtering of Continuous-Time Fuzzy Systems
Xiao-Heng Chang,Guang-Hong Yang +1 more
TL;DR: By using the quadratic Lyapunov function approach and adding slack matrix variables, sufficient conditions for designing the nonfragile H⩽∞ filter are proposed in terms of solutions to a set of linear matrix inequalities (LMIs).
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Relaxed stabilization conditions for continuous-time Takagi-Sugeno fuzzy control systems
Xiao-Heng Chang,Guang-Hong Yang +1 more
TL;DR: The theoretical proof shows that the proposed conditions can provide less conservatism than the existing results in the literature, and in order to demonstrate the effectiveness of the non-PDC control laws, the problem of H"~ controller design for T-S fuzzy systems is studied.
Journal ArticleDOI
Observer-based adaptive fuzzy tracking control of MIMO switched nonlinear systems preceded by unknown backlash-like hysteresis
TL;DR: The proposed control scheme can guarantee that all the signals in the resulting closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) under a class of switching signals with average dwell time, and the outputs to track given reference signals exactly.
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Observer-based fuzzy adaptive stabilization of uncertain switched stochastic nonlinear systems with input quantization
TL;DR: The proposed quantized output feedback control scheme cannot only guarantee the boundedness of signals but also make the output of the system converge to a small neighborhood of the origin.