In this paper, a control structure that makes possible the integration of kinematic controller and an adaptive fuzzy for trajectory tracking is developed nonholonomic mobile robots. The system uncertainty, which includes robot parameter variation unknown nonlinearities, estimated by logic (FLS). proposed represents amalgamation nonlinear processing elements theory function approximation using FLS. real-time robots achieved through online tuning FLS parameters. stability convergence errors...

This work proposes a novel combined model reference adaptive controller (MRAC) for unknown multi input output (MIMO) LTI systems with guaranteed parameter convergence. An online plant-parameter identification method is developed in conjunction direct control-parameter update law to ensure exponential convergence (after tunable finite time) of tracking error as well plant and estimation errors zero. Unlike the restrictive persistence excitation (PE) condition required classical MRAC...

This work proposes a new adaptive-robust control (ARC) architecture for class of uncertain Euler-Lagrange (EL) systems where the upper bound uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies either require structural knowledge system or presume that overall uncertainties its time derivative are norm bounded by constant. Due to unmodelled dynamics and modelling imperfection, true is not always available. Further, under consideration, prior assumption...

This paper proposes a new adaptive-robust control (ARC) strategy for tracking problem of class uncertain Euler-Lagrange systems. The proposed time-delay (ARTDC) amalgamates the ARC with (TDC). It comprises three parts: estimation part, desired dynamics injection and an part. main feature ARTDC is that it does not involve any threshold value in its adaptive law; thus, allows switching gain to increase or decrease whenever error trajectories move away close surface, respectively. Thus,...

Abstract This work proposes a novel composite adaptive controller for uncertain Euler‐Lagrange (EL) systems. The law is strategically designed to be proportional the parameter estimation error in addition tracking error, leading convergence. Unlike conventional control laws which require regressor function persistently exciting (PE) convergence, proposed method guarantees convergence from milder initially (IE) condition on regressor. IE significantly less restrictive than PE, since it does...

In this study, linear quadratic Gaussian (LQG) control is used for designing a wide area damping controller (WADC) in power system. The designed continuous and discrete mode LQG‐based WADC robust enough to deal with the problem of imperfect communication medium. medium includes process noise, measurement packet drop‐out signal latency remote signal. appropriate input location are selected using modal residue method. imperfections network modelled Pade approximations time delay by inserting...

This paper proposes a computationally efficient artificial neural network (ANN) model for system identification of unknown dynamic nonlinear discrete time systems. A single layer functional link ANN is used the where need hidden eliminated by expanding input pattern Chebyshev polynomials. Thus, creation decision boundaries in multidimensional space and approximation complex systems becomes easier. These models are linear their parameters inputs. The recursive least squares method with...

In this study, an optimal control algorithm based on Hamilton–Jacobi–Bellman (HJB) equation, for the bounded robust controller design finite-time-horizon nonlinear systems, is proposed. The HJB equation formulated using a suitable nonquadratic term in performance functional to take care of magnitude constraints input. Utilising direct method Lyapunov stability, we have proved optimality with respect cost functional, that includes penalty effort and maximum bound system uncertainty. requires...

Flywheel systems are quick acting energy storage that enable smoothing of a wind turbine output to ensure controllable power dispatch. The effectiveness flywheel depends on how well it can be controlled respond fluctuating from intermittent sources. A quadratic Lyapunov function based non‐linear controller is proposed which designed an implicit understanding the system including its inherent nonlinearities. Two different configurations designs have been studied. ensures asymptotic stability...

In this paper, we present a sliding mode control (SMC) based approach to address the velocity tracking and head-angle problem of planar snake robot. The motion characteristics exhibit generation propulsive force as result anisotropic friction with respect ground. To imitate snake, all joints robot are tracked serpenoid gait function utilizing virtual holonomic constraints. parameters obtained from SMC resulting in tracking. has been chosen ensure robustness stability system presence...

This paper presents the dynamic analysis of a grid connected Doubly Fed Induction Generator based wind turbine generator system with detailed mechanical structural modelling turbine. The Euler-Lagrangian approach has been used for dynamics driving input power to modelled by Blade Element Momentum (BEM) method and same calculate tangential force on blades responsible edgewise vibration it. A polynomial regression model feed-forward back-propagation neural network have replace BEM algorithm...

One of the major issues in an interconnected power system is low damping inter-area oscillations. A proportional-derivative (PD) compensator a popular control method which extensively being used as active various domains such robotics, smart structure, etc. However, existence noise wide-area signal makes ideal PD unrealisable systems. In this endeavour, new methodology christened time-delayed proposed where artificial delay to provide derivative action acts component controller. The margin...

This technical note proposes a procedure to control an uncertain discrete-time networked system using aperiodic stabilizing input information. The is primarily affected by the time-varying, norm bounded, mismatched parametric uncertainty. Aperiodic exchange of information done due bandwidth constraint communication network. An event-triggered based robust strategy adopted reduce effects uncertainty in such constrained networks. In control, computed and actuated at end only when pre-specified...

In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and adaptive-robust strategy, christened Time-Delayed Adaptive Robust Control (TARC), presented. TARC approximates unknown dynamics through time-delayed estimation, provides robustness against approximation error. The novel adaptation law TARC, in contrast conventional methodologies, requires neither complete model nor any knowledge predefined uncertainty bounds...

In this work, we leverage the 2-contraction theory, which extends capabilities of classical contraction to develop a global stability framework. Coupled with powerful geometric tools such as Poincare index theory enables us analyze planar nonlinear systems without relying on local equilibrium analysis. By utilizing and results, efficiently characterize nature points delineate regions in 2-dimensional state space where periodic solutions, closed orbits, or stable dynamics may exist. A key...

This paper presents a method of controlling the bending and torsional vibration modes flexible plate structure (theoretically which has infinite number modes) using H/sub /spl infin//-based robust control. For this purpose, three degree freedom (DOF) reduced order lumped mass model is derived by considering first neglecting all other high-frequency modes. These neglected constitute unstructured uncertainties system taken care in time design process. An idea proposed to reduce unmodeled...

The problem of estimating unknown frequencies a sinusoidal signal simultaneously is classical in and system theory. Many approaches algorithms are proposed literature to develop estimators for measurable having multiple sinusoids with amplitudes, phases. In this work, an asymptotically convergent frequency estimator given estimation n-unknown signal. contraction theory approach adopted show the asymptotic convergence quite simplified manner. Approach here exploits results related...