Robust Control of Piecewise Linear Switched System with Constrained Input and Ellipsoid

2016 ◽  
pp. 65-77
Author(s):  
Zhilin Liu ◽  
Xin Yuan ◽  
Jun Zhang ◽  
Li Su
Keyword(s):  
Robust Control ◽  
Piecewise Linear ◽  
Switched System ◽  
Constrained Input

Variable Neural Adaptive Robust Control: A Switched System Approach

2015 ◽  
Vol 26 (5) ◽  
pp. 903-915 ◽  
Author(s):  
Jianming Lian ◽  
Jianghai Hu ◽  
Stanislaw H. Zak
Keyword(s):  
Robust Control ◽  
System Approach ◽  
Adaptive Robust Control ◽  
Switched System

Piecewise-Linear Robust Control of Systems with Input Constraints

1999 ◽  
Vol 5 (1) ◽  
pp. 157-166 ◽  
Author(s):  
D. Henrion ◽  
G. Garcia ◽  
S. Tarbouriech
Keyword(s):  
Robust Control ◽  
Piecewise Linear ◽  
Input Constraints

A Switched-System Approach to Shared Robust Control and Obstacle Avoidance for Mobile Robots

2014 ◽  
Author(s):  
Jingfu Jin ◽  
Nicholas Gans ◽  
Yoon-Gu Kim ◽  
Sung-Gil Wee
Keyword(s):  
Robust Control ◽  
Mobile Robots ◽  
Obstacle Avoidance ◽  
System Approach ◽  
Variable Structure ◽  
Switched System ◽  
Shared Control ◽  
Nonholonomic Mobile Robots ◽  
Control Approach ◽  
Free Region

We propose a shared control structure for nonholonomic mobile robots, in which a human operator can command motions that override autonomous operation, and the robot overrides either the teleoperation or autonomous controller if it encounters an obstacle. We divide the whole configuration, including orientation, space into an obstacle avoidance and an obstacle-free region. This enables a switched-system approach to switch between autonomous and teleoperation mode, or the obstacle avoidance and the obstacle-free region. To reject disturbances or noise present in the error dynamics, two different robust control laws are proposed using a high gain and a variable structure approach. Lyapunov-based stability analysis is provided. To rigorously test the approach under different circumstances, experiments have been conducted by two different research groups. The results from two groups show that the shared control approach works effectively both in the teleoperation mode and autonomous mode with different system settings and environments.

Event-trigger-based robust control for nonlinear constrained-input systems using reinforcement learning method

2019 ◽  
Vol 340 ◽  
pp. 158-170 ◽  
Author(s):  
Dongsheng Yang ◽  
Ting Li ◽  
Huaguang Zhang ◽  
Xiangpeng Xie
Keyword(s):  
Reinforcement Learning ◽  
Robust Control ◽  
Learning Method ◽  
Event Trigger ◽  
Constrained Input

Robust control of piecewise linear systems: A case study in sheet flow control

2008 ◽  
Vol 16 (8) ◽  
pp. 991-1003 ◽  
Author(s):  
J.J.T.H. de Best ◽  
B.H.M. Bukkems ◽  
M.J.G. van de Molengraft ◽  
W.P.M.H. Heemels ◽  
M. Steinbuch
Keyword(s):  
Robust Control ◽  
Flow Control ◽  
Linear Systems ◽  
Piecewise Linear ◽  
Sheet Flow ◽  
Piecewise Linear Systems

Non-Saturating Constrained Input Piecewise-Linear LQ Control

1993 ◽  
Vol 26 (2) ◽  
pp. 419-422
Author(s):  
G.F. Wredenhagen ◽  
P.R. Belanger
Keyword(s):  
Piecewise Linear ◽  
Lq Control ◽  
Constrained Input
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