Realtime Access Map
An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics
Abstract
In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.
Related items
Showing items related by title, author, creator and subject.
-
Semi-orthogonal user selection for MISO systems with quantized feedback
Khanfir, Hajer; Le Ruyet, Didier; Özbek, Berna (IEEE, 2008)For MISO multi-user downlink wireless communication system with precoding at the transmission, the channel state information at the transmitter can provide tremendous capacity gains. However, the amount of feedback data ... -
Well posedness conditions for Bimodal Piecewise Affine Systems
Şahan, Gökhan; Eldem, Vasfi (Elsevier, 2015-07-01)This paper considers well-posedness (the existence and uniqueness of the solutions) of Bimodal Piecewise Affine Systems in ℝn. It is assumed that both modes are observable, but only one of the modes is in observable canonical ... -
Performance evaluation of group communication architectures in large scale systems using MPI
Erciyeş, Kayhan; Dağdeviren, Orhan; Payli, Reşat Ümit (Springer, 2006)Group communication is an important paradigm for fault tolerance in large scale systems. We describe various group architectures as pipelined, hierarchical, daisy and hypercube groups each consisting of separate clusters, ...