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[PDF] Top 20 Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

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Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints

... hybrid systems, robust control, tracking, mechanical systems, biped, walking gait ...study of hybrid dynamical systems has recently at- tracted a significant research interest, ... Voir le document complet

7

Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback

Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback

... kind of dynamic systems. The H ∞ approach, that has recently been developed by Orlov and Aguilar (2014) towards nonsmooth me- chanical applications with hard-to-model friction forces (such as dry or ... Voir le document complet

20

Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints

Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints

... disturbance of F w = 10 sin(t) N m was applied to the hip (therefore vector w is given by the joint torques generated by this external force), while the velocities after the impact are deviated 5 % from their ... Voir le document complet

8

Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position

Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position

... the state feedback ℋ -control is solved for mechanical systems subject to unilateral constraints on the ...Effectiveness of the proposed disturbance attenuation ... Voir le document complet

7

Nonlinear H ∞ -control under unilateral constraints

Nonlinear H ∞ -control under unilateral constraints

... effects of the disturbance, pointed out by the arrows, are ...the H ∞ -tracking/regulation problem is solved for mechanical systems under unilat- eral constraints via ... Voir le document complet

33

Robust and guaranteed output-feedback force control of piezoelectric actuator under temperature variation and input constraints

Robust and guaranteed output-feedback force control of piezoelectric actuator under temperature variation and input constraints

... the control of these systems not a trivial task. Nonlinear controller design for piezoelectric actuators gained much research interest in recent ...uncertain nonlinear models. For ... Voir le document complet

13

Feedback linearization control of nonlinear uncertain systems using single hidden layer neural network

Feedback linearization control of nonlinear uncertain systems using single hidden layer neural network

... The network weight adaptation rule is derived from Lyapunov stability analysis, and guarantees that the adapted weight errors and the tracking error are bounded. T[r] ... Voir le document complet

1

Distributed control of multi-agent systems under communication constraints : application to robotics

Distributed control of multi-agent systems under communication constraints : application to robotics

... Multi-agent systems (MAS) have gained much popularity due to their vast range of ...to control its cooperative ...practical constraints. These constraints include irregular and ... Voir le document complet

139

Robust H ∞ Dynamic Output-feedback Control of Power Oscillation Damped via VSC-HVDC Transmission Systems

Robust H ∞ Dynamic Output-feedback Control of Power Oscillation Damped via VSC-HVDC Transmission Systems

... problem of a particular case of high-voltage direct current transmission inserted into a meshed AC grid, which has an inter-area oscillation mode with a higher frequency than the normal ...the ... Voir le document complet

7

A SECOND-ORDER MAXIMUM PRINCIPLE IN OPTIMAL CONTROL UNDER STATE CONSTRAINTS

A SECOND-ORDER MAXIMUM PRINCIPLE IN OPTIMAL CONTROL UNDER STATE CONSTRAINTS

... overview of this subject, and were largely explored in the optimal control theory, where they have led to various second-order neces- sary optimality conditions, mostly in the form of an integral ... Voir le document complet

38

Dynamics of rigid bodies systems with unilateral or frictional constraints

Dynamics of rigid bodies systems with unilateral or frictional constraints

... one of the constraint is ideal and the other is ...framework of rigid bodies dynamics, the only thing which can be expressed is that there is a dis­ sipation mechanism associated with the bilateral ... Voir le document complet

86

H-infinity control of an irrigation canal pool with a mixed control politics

H-infinity control of an irrigation canal pool with a mixed control politics

... multivariable H ∞ controllers enable to recover the real- time performance of a pure local upstream controller while ensuring that in steady state, the discharge is delivered by the upstream ... Voir le document complet

11

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

... Output Feedback Control based on Lyapunov drifts for nonlinear systems Emilien Flayac, Karim Dahia, Bruno H´eriss´e, and Fr´ed´eric Jean Abstract— This paper presents a dual receding ... Voir le document complet

9

Some results on robust output feedback stabilization of nonlinear systems

Some results on robust output feedback stabilization of nonlinear systems

... means of a pure output feedback controller we are able to restore the asymptotic properties of an UCO controller without relying upon exponential stability requirements of the latter and ... Voir le document complet

7

On the control of strongly nonlinear systems

On the control of strongly nonlinear systems

... L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignemen[r] ... Voir le document complet

41

Relaxation approximation of Friedrich's systems under convex constraints

Relaxation approximation of Friedrich's systems under convex constraints

... loc of a parabolic-relaxed approximation towards the unique constrained ...aim of this paper is to prove the convergence of a relaxation approximation of weak solutions to Friedrichs’ ... Voir le document complet

16

Fast Control Systems: Nonlinear Approach

Fast Control Systems: Nonlinear Approach

... conditions of existence of Filippov solutions [18], which almost everywhere satisfy the differential inclusion ˙ x(t) ∈ F(t, x(t)),t > 0, where F : R × R n ⇒ R n is a set-valued function contracted from ... Voir le document complet

29

Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects

Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects

... studies of hinged rotor’s mechanisms can be found in Prouty (2002) and Bramwell ...case of hingeless rotors. During rotation of the shaft, the blade is subject to a number of forces creating ... Voir le document complet

8

On some stochastic control problems with state constraints

On some stochastic control problems with state constraints

... and under suitable regularity assumptions, it can be proved that the value function satisfies a special kind of nonlinear partial differ- ential equation called the Hamilton-Jacobi-Bellman (HJB) ... Voir le document complet

156

Control of a dual inverted pendulum system using linear-quadratic and H-infinity methods

Control of a dual inverted pendulum system using linear-quadratic and H-infinity methods

... comparisons indicate that the closed-loop systems have satisfactory transient responses (not always the case for the H_ designs), stability robustness, and bandwidth, [r] ... Voir le document complet

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