This brief addresses the problem of control for active vehicle suspension systems in finite frequency domain. The performance is used to measure ride comfort so that more general road disturbances can be considered. By using generalized Kalman-Yakubovich-Popov (KYP) lemma, norm from disturbance controlled output decreased specific band improve comfort. Compared with entire approach, approach suppresses vibration effectively concerned range. In addition, time-domain constraints, which...

This paper proposes an adaptive backstepping control strategy for vehicle active suspensions with hard constraints. An controller is designed to stabilize the attitude of and meanwhile improve ride comfort in presence parameter uncertainties, where suspension spaces, dynamic tire loads, actuator saturations are considered as time-domain In addition spring nonlinearity, piecewise linear behavior damper, which has different damping rates compression extension movements, taken into...

This paper investigates the problem of vibration control in vehicle active suspension systems, whose aim is to stabilize attitude and improve ride comfort. In response uncertainties systems possible actuator saturation, a saturated adaptive robust (ARC) strategy proposed. Specifically, an antiwindup block added adjust manner conducive stability performance preservation presence saturation. Furthermore, proposed ARC approach applied half-car where nonlinear springs piecewise linear dampers...

This brief investigates the problem of robust sampled-data <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i> <sub xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control for active vehicle suspension systems. By using an input delay approach, system with sampling measurements is transformed into a continuous-time in state. The contains non-differentiable time-varying state and polytopic parameter uncertainties. A Lyapunov functional...

This paper investigates the problem of vibration isolation for vehicle active suspension systems, where parameter uncertainties, external disturbances, actuator saturation, and performance constraints are considered in an unified framework. A constrained adaptive robust control technology is developed to not only stabilize attitude context uncertainties but also cover problems saturation constraints. Furthermore, analysis closed-loop systems given, by means rigorous mathematical derivations....

This paper investigates the problem of vibration suppression in vehicular active suspension systems, whose aim is to stabilize attitude vehicle and improve riding comfort. A full-car model adopted, electrohydraulic actuators with highly nonlinear characteristics are considered form basis accurate control. In this paper, H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance introduced realize disturbance by selecting actuator...

The bilateral teleoperation system has raised expansive concern as its excellent behaviors in executing the tasks remote, unstructured, and dangerous areas via cooperative operation systems. In this article, an radial basis function (RBF) neural network based adaptive robust control design is proposed for nonlinear manipulators to cope with main issues including communication time delay, various nonlinearities, uncertainties. Specifically, slave environmental dynamics modeled by a general...

In this paper, an output feedback finite-time control method is investigated for stabilizing the perturbed vehicle active suspension system to improve performance. Since physical systems always exist in phenomenon of uncertainty or external disturbance, a novel disturbance compensator with convergence performance proposed efficiently compensating unknown disturbance. Moreover, presented advantageous over existing ones since it continuous and can completely remove matched From viewpoint...

Vehicle suspension systems are important for significantly improving passenger comfort and handling characteristics. A well-designed system can improve the entire performance of automobile chassis. In this paper, an adaptive vibration control strategy is proposed nonlinear uncertain to stabilize both vertical pitch motions car and, thus, contribute ride comfort. Simultaneously, holding preserved within allowable limits in controller design. Moreover, differing from existing results, most...

This paper is concerned with the problem of adaptive tracking control for a class nonlinear systems parametric uncertainty, bounded external disturbance, and actuator saturation. In order to achieve robust output saturated uncertain systems, combination (ARC) novel terminal sliding-mode-based disturbance observer (TSDO) proposed, where modeling inaccuracy are integrated as lumped disturbance. Specifically, errors estimating lump disturbances converge zero in finite-time improving precision...

Using light-weight architectures or reasoning on low-resolution images, recent methods realize very fast scene parsing, even running at more than 100 FPS a single GPU. However, there is still significant gap in performance between these real-time and the models based dilation backbones. To this end, we proposed family of deep dual-resolution networks (DDRNets) for accurate semantic segmentation, which consist backbones enhanced contextual information extractors. The two branches multiple...

This paper focuses on developing an advanced nonlinear controller for hydraulic system to achieve asymptotic tracking with various disturbances. To accomplish this study, a multilayer neural-networks (NNs) estimator is first developed improve the compensation accuracy of model-based feedforward control terms, which can greatly reduce uncompensated disturbance, then continuous robust integral sign error (RISE) approach effectively integrated NNs deal residual mismatched in RISE feedback gain...

Dual-drive gantry stage has been widely applied to various industrial manufacturing fields with its unique structural advantages, and the synchronous control accuracy of platform is crucial performance whole motion system. Therefore, an adaptive robust scheme based on improved master-slave structure proposed, which not only simple in but also easy implement engineering. The error dynamics model established this article makes up for lag response traditional improves stability closed-loop...

This paper investigates the energy-efficiency design of adaptive control for active suspension systems with a bioinspired nonlinearity approach. To this aim, dynamics-based tracking is proposed nonlinear systems. In many existing techniques, one important effort used canceling vibration energy transmitted by inherent to improve ride comfort. Unlike methods, approach takes full advantage beneficial stiffness and damping characteristics inspired limb motion dynamics biological achieve...

Multilateral telerobotic system has potential applications in the industry environments with advantages of cooperative manipulation for remote and hazardous tasks, its control design is quite challenging due to several coupling issues such as stability, position tracking, force feedback, under time delays, various uncertainties, external disturbance. In this paper, a novel radial basis function neural network (RBFNN) based adaptive sliding mode proposed nonlinear multilateral...

In this paper, a practical control law is proposed for wheeled mobile robots in order to both improve the transient performance and repress tracking errors. particular, two time-scale filtering technique, which can derive fast variable compensate disturbance, applied during carbot's moving process. The nominal system governed using controller derived under back-stepping framework. Such design effectively realize system's objective enhance robustness via properly configured parameters....

This paper presents the problem of finite-time stabilization for vehicle suspension systems with hard constraints based on terminal sliding-mode (TSM) control. As we know, one strong points TSM control is its convergence to a given equilibrium system under consideration, which may be useful in specific applications. However, two main problems hindering application are singularity and chattering systems. proposes novel second-order algorithm soften switching law. The effect equivalent...

This paper investigates the adaptive tracking-control problem for a class of nonlinear systems with uncertain parameters, disturbance, and unmodeled dynamics. A novel model reference control (MRAC) external filter is proposed to not only stabilize error system but also guarantee its transient performance. The strategy can mathematically ensure designable L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> norm bounds difference between...

In this paper, sampled-data adaptive robust control is proposed for a class of uncertain cascaded nonlinear system with states and inputs constraints. The systematic design procedure can be divided into two steps: i) controller the plant to not only stabilize closed-loop but also track desired command although there are variety uncertainties disturbances in system; ii) reference governor avoid violating their limits. Finally, method employed Motor-servo demonstrate effectiveness.

A desired compensation adaptive controller is proposed in this paper for precision motion control of electro-hydraulic servo systems, with consideration the nonlinearity, modeling uncertainty, and especially severe measurement noise arising from actual state feedbacks deteriorating performance significantly. To alleviate noise, states model-based design are replaced corresponding values. Considering that general hydraulic system model contains unmatched uncertainties (e.g., unmodeled...

This article presents a nonmodel-based controller design for vehicle dynamic systems to improve lateral stability, where output tracking control and adaptive programming approaches are employed track the desired yaw rate and, at same time, mitigate sideslip angle, roll of vehicle. Moreover, different from some existing optimization methods in allocation, proposed strategies, which distribute tire forces by learning, only using information states, input, reference signal instead knowledge...

In this paper, an adaptive fault-tolerant method is proposed to synthesize a compensation controller for the uncertain nonlinear pure-feedback systems possessing dead-zone actuators and stochastic failures. Each actuator's failure mode described by scalar Markovian type function, which not only much more practical in control engineering but also challenging theory. By exploring backstepping methodology, scheme actuator presented guarantee that solution of closed-loop system unique bounded...