scholarly journals Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Jie Dong ◽  
Sen Liu ◽  
Kaixiang Peng
Keyword(s):  
Potential Function ◽  
Lyapunov Stability ◽  
Feedback Linearization ◽  
Formation Control ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Multirobot System ◽  
Simulation Results ◽  
Standard Techniques

Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.

CHAOS SYNCHRONIZATION OF CHEN SYSTEM AND ITS APPLICATION TO SECURE COMMUNICATION

2008 ◽  
Vol 22 (21) ◽  
pp. 3709-3720 ◽  
Author(s):  
XINGYUAN WANG ◽  
XIANGJUN WU ◽  
YIJIE HE ◽  
GULZILA ANIWAR
Keyword(s):  
Lyapunov Stability ◽  
Secure Communication ◽  
Chaos Synchronization ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Chen System ◽  
Simulation Results ◽  
Feedback Method ◽  
Active Control Method ◽  
Pc Method

This paper describes the chaos synchronization of two identical Chen systems theoretically and numerically. Based on Lyapunov stability theory, the controllers for achieving synchronization of two identical Chen systems using the PC method, active control method, and feedback method are designed. Numerical simulations show the correctness of the results. Moreover, as an application, the well-known PC method is applied to chaos-synchronization-based secure communication. Simulation results verify the proposed scheme's effectiveness in the communication application and also show its well robustness.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

THE HYBRID FUNCTION PROJECTIVE SYNCHRONIZATION OF CHAOTIC SYSTEMS

2009 ◽  
Vol 20 (05) ◽  
pp. 789-797
Author(s):  
YONG-GUANG YU ◽  
HAN-XIONG LI ◽  
JUN-ZHI YU
Keyword(s):  
Numerical Simulation ◽  
Lyapunov Stability ◽  
Chaotic Systems ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Projective Synchronization ◽  
Function Projective Synchronization ◽  
Hybrid Function ◽  
Simulation Results ◽  
Different Chaotic Systems

This paper mainly investigated a hybrid function projective synchronization of two different chaotic systems. Based on the Lyapunov stability theory, an adaptive controller for the synchronization of two different chaotic systems is designed. This technique is applied to achieve the synchronization between Lorenz and Rössler chaotic systems, and the synchronization of hyperchaotic Rössler and Chen systems. The numerical simulation results illustrate the effectiveness and feasibility of the proposed scheme.

Adaptive Attitude Control on Multiple Independently Targeted Reentry Vehicles (MIRV)

2014 ◽  
Vol 494-495 ◽  
pp. 1316-1319
Author(s):  
Xing Yu Chen ◽  
Fan Li ◽  
Jian Hui Zhao ◽  
Zhao Long Fan
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Lyapunov Stability ◽  
Attitude Control ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Attitude Dynamics ◽  
Dynamics Model ◽  
Simulation Results

Based on the characteristics of releasing loads for many times, the attitude dynamics model of MIRV has established by using the Rodrigues representation, and we proposed a method of indirect multi-model adaptive attitude control. It was proved that the adaptive controller we designed can ensure the control system globally uniformly and bounded stable according to the Lyapunov stability theory, and the effectiveness of the controller was demonstrated by the numerical simulation results.

PARAMETER IDENTIFICATION AND ADAPTIVE SYNCHRONIZATION OF UNCERTAIN HYPERCHAOTIC CHEN SYSTEM

2008 ◽  
Vol 22 (08) ◽  
pp. 1015-1023 ◽  
Author(s):  
XINGYUAN WANG ◽  
XIANGJUN WU
Keyword(s):  
Adaptive Control ◽  
Parameter Identification ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Adaptive Synchronization ◽  
Control Law ◽  
Uncertain Parameters ◽  
Chen System ◽  
Adaptive Control Law

This paper studies the adaptive synchronization and parameter identification of an uncertain hyperchaotic Chen system. Based on the Lyapunov stability theory, an adaptive control law is derived to make the states of two identical hyperchaotic Chen systems asymptotically synchronized. With this approach, the synchronization and parameter identification of the hyperchaotic Chen system with five uncertain parameters can be achieved simultaneously. Theoretical proof and numerical simulations demonstrate the effectiveness and feasibility of the proposed scheme.

Sliding Mode Observer and Controller Design for Nonlinear Supersonic Missile

2013 ◽  
Vol 718-720 ◽  
pp. 1228-1233
Author(s):  
Hong Chao Zhao ◽  
Xian Jun Shi ◽  
Ting Wang
Keyword(s):  
Lyapunov Stability ◽  
Controller Design ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Sliding Mode Controller ◽  
Output Redefinition ◽  
Simulation Results ◽  
Nonlinear Equations Of Motion

The nonlinear equations of motion were constructed for a supersonic anti-warship missile. In order to estimate the unknown angle-of-attack, a sliding mode observer was designed. The convergence capability of the sliding mode observer was analyzed according to the Lyapunov stability theory. A sliding mode controller was designed to drive the missile normal overload output to track its command, based on the output-redefinition approach. In order to confirm the performance of the designed sliding mode observer and controller, a simulation example was carried out for nonlinear missile model. The simulation results show the fast convergence capability of the designed sliding mode observer and controller.

Nonlinear Control Law Design for Lateral Aircraft Dynamics at High Angles of Attack

2013 ◽  
Vol 325-326 ◽  
pp. 1210-1214
Author(s):  
Costin Ene
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Nonlinear Behavior ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Type Design ◽  
Nonlinear Control Law ◽  
High Angles Of Attack

In this paper, an adaptive backstepping type design is proposed to control the complex nonlinear behavior of the wing rock phenomenon. This method, based on Lyapunov stability theory, can simultaneouslyachieve parameters identification and control.Finally numerical simulations are presented to justify the effectiveness of the proposed controller.

Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors

2011 ◽  
Vol 138-139 ◽  
pp. 404-409 ◽  
Author(s):  
Heng Li ◽  
Jin Yong Yu ◽  
You An Zhang
Keyword(s):  
Closed Loop ◽  
Dynamic Control ◽  
Lyapunov Stability Theory ◽  
Invariant Set ◽  
Control Law ◽  
Control Allocation ◽  
Nonlinear Controller ◽  
Closed Loop System ◽  
Multiple Control ◽  
Simulation Results

With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a dynamic control allocation with position constraints of each effector, is designed. Based on Lyapunov stability theory and LaSalle invariant set theorem, asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.

scholarly journals On Full-State Hybrid Projective Synchronization of General Discrete Chaotic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Adel Ouannas
Keyword(s):  
Lyapunov Stability ◽  
Discrete Time ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Projective Synchronization ◽  
Full State ◽  
Hybrid Projective Synchronization ◽  
Nonlinear Control Method

The problems of full-state hybrid projective synchronization (FSHPS) and inverse full-state hybrid projective synchronization (IFSHPS) for general discrete chaotic systems are investigated in 2D. Based on nonlinear control method and Lyapunov stability theory, new controllers are designed to study FSHPS and IFSHPS, respectively, for 2D arbitrary chaotic systems in discrete-time. Numerical example and simulations are used to validate the main results of this paper.

scholarly journals System Control In Fault And Normal Conditions Case Study - Quanser SRV-02

2015 ◽  
Vol 67 (1) ◽  
pp. 133-138
Author(s):  
Ionut Cristian Resceanu ◽  
Cristina Floriana Resceanu
Keyword(s):  
Fault Tolerance ◽  
Theoretical Analysis ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Law ◽  
System Control ◽  
Sensor Fault ◽  
Simulation Results

Abstract A fault tolerant control method is proposed for Quanser SRV-02 System in order to maintain the required performance in the presence of sensor failures. The proposed approach integrates control law and a sensor fault tolerance schema. Theoretical analysis and simulation results have confirmed the effectiveness of the proposed method.

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