This paper presents a novel implementation of an integral sliding-mode controller (ISMC) on two-wheeled mobile robot (2 WMR). The 2 WMR consists two wheels in parallel and inverse pendulum, which is inherently unstable. It the first time that control method employed for real-time platform several critical issues are addressed. First, underactuated, uses only one actuator to achieve position while balancing pendulum around upright position. ISMC suitable underactuated WMR, because has extra...

Previous research on finite-time control focuses forcing a system state (vector) to converge within certain time moment, regardless of how each element converges. In the present work, we introduce problem with unique finite/fixed-time stability considerations, namely time-synchronized (TSS), where <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">at same time</i> , all elements origin, and fixed-TSS, upper bound synchronized settling is...

In this paper, adaptive neural network (NN) control is investigated for a class of nonlinear pure-feedback discrete-time systems. By using prediction functions future states, the system transformed into an n-step-ahead predictor, based on which state feedback NN synthesized. Next, by investigating relationship between outputs and input-output predictor model, then, output constructed. To overcome difficulty nonaffine appearance input, implicit function theorem exploited in design employed to...

This paper studies a class of fuzzy time-delay descriptor systems in the extended Takagi-Sugeno (T-S) model. Sufficient conditions are derived for stability and stabilization terms linear matrix inequalities (LMIs). Illustrative examples given to show effectiveness advantages present results

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper is concerned with the <formula formulatype="inline"><tex>$H_{\infty} $</tex></formula> filter design for nonlinear systems time-varying delay via Takagi–Sugeno fuzzy model approach. Delay-dependent method proposed in terms of linear matrix inequalities (LMIs), which forms main contribution this paper. The technique used free-weighting combined a decoupling results rate-independent...

In this article, a unique multiagent control problem is defined-all the elements of all agent states reaching consensus at same time, i.e., system achieves time-synchronized and fixed-time-synchronized consensus, where upper bound synchronized settling time independent initial systems. To articulate (fixed-) problem, we first propose stability stability, special kind fixed/finite-time state synchronously arrive equilibrium with dependent/independent conditions. Based on singularity-free...

In this paper, we consider the fault diagnosis and fault-tolerant problem for a linear drive system subject to noise. First, propose residual generator based on Kalman filter, which can be used detect if failure occurs. Second, two filters are designed diagnose type. Third, when is diagnosed, control accommodate failure. Finally, proposed method tested in real system.

This paper presents a novel implementation of Takagi-Sugeno-type fuzzy logic controller (FLC) on two-wheeled mobile robot (2WMR), which consists two wheels in parallel and an inverse pendulum. The control objective the 2WMR is to achieve position while keeping pendulum around upright that unstable equilibrium. novelties this work lie three aspects. First, FLC synthesized design utilizes both heuristic knowledge model information system. structure, including labels, membership functions,...

We aim to tackle the challenging Few-Shot Object Detection (FSOD), where data-scarce categories are presented during model learning. The failure modes of FasterRCNN in FSOD investigated, and we find that performance degradation is mainly due classification incapability (false positives) caused by category confusion, which motivates us address from a novel aspect refinement. Specifically, intrinsic limitation aspects both architectural enhancement hard-example mining. introduce few-shot...

In this article, simultaneous arrival to origin (SATO) convergence is defined—all state elements arriving at the same time. Accordingly, a relevant sufficient condition proposed for SATO convergence. Based on formulation of convergence, classical and norm-normalized (NN) sign functions are revisited. Their differences studied with applications in sliding-mode control design. Both (expectedly when properly invoked) contribute system stability, while NN function enables accomplish This finding...

This paper investigates the economic operation of a microgrid with variety distributed energy resources. Given intermittency renewable generation and high stochasticity in market prices loads, online power scheduling approaches are generally preferred for their uncertainty handling capacity by exploiting real-time information. Traditional methods like model predictive control require separate forecaster, while recent reinforcement learning (RL) based can learn policy from historical data...

This paper is concerned with the control of a class chaotic systems using adaptive backstepping, which systematic design approach for constructing both feedback laws and associated Lyapunov functions. Firstly, we show that many as paradigms in research chaos can be transformed into nonlinear so-called nonautonomous "strict-feedback" form. Secondly, an backstepping scheme extended to system, it shown output system asymptotically track any known, bounded smooth reference model. Finally,...

In view of a recent new application variable structure control (VSC) to the stabilization problem for Takagi-Sugeno (T-S) fuzzy models, this paper aims study uncertain time-delay systems in T-S model via VSC approach. There are mainly two features paper: one lies incorporation time-delays (both smooth and nonsmooth delays) which case Lyapunov functionals Razumikhin Theorem required solve problem; other feature is that not only matched uncertainties but also mismatched state variables...

In this paper, we address the problem of precision motion control permanent-magnet linear motors (PMLMs) under influence significant disturbances. We establish a mathematical model PMLM driven by sinusoidal pulsewidth-modulated (PWM) amplifier, obtaining it from describing function analysis essentially nonlinear characteristics. The overall (PWM+PMLM) inevitably inherits uncertainties in face load changes, system parameter perturbation, noise, and inherent nonlinearities, etc., all which...

This correspondence is concerned with the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> filter design for Takagi-Sugeno (T-S) fuzzy systems state-delay. A delay-dependent method proposed in terms of linear matrix inequalities (LMI). The main contribution use weighting-dependent Lyapunov functionals which can reduce conservatism arisen from quadratic functional approach. An illustrative example given to show effectiveness present

This paper presents a new compensation technique for dynamic friction. The proposed control utilizes PD structure and an adaptive estimation of the friction force based on observer. Specifically, nonlinear function is used to compensate effects parameters in model. Simulations experimental results verify theory show that method can significantly improve tracking performance motion system.

In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using characteristics hysteresis, adaptive dynamic surface (DSC) is developed without constructing hysteresis inverse. The explosion complexity in traditional backstepping avoided utilizing DSC. Function uncertainties are compensated using neural networks due to their universal approximation capabilities. Through Lyapunov synthesis, closed-loop...