In this case the best that, in the current state of the research, can be done is to assume the above matrix with eigenvalues in the positive half-plane for any value of its arguments, and adopt a particular technique called integral sliding mode. Generalization to nonsingular matrices seems ...
For uncertain nonlinear systems, an adaptive robust controller has been developed using a proportional-integral-derivative-type nonsingular fast terminal sliding mode control. This controller aims to provide essential characteristics such as rapid transient response, finite-time convergence, negligible steady-...
If (4) holds, it follows that (6, 6)-block of Φ11 must be negative definite. This leads to the fact that T6 + T6T = ρ6(G + GT ) < 0, which implies that G is nonsingular if ρ6 = 0. Now, we make a congruence transformation to (4) with Σ = diag[G¯ G¯ G...
So, 𝐿 must be larger than the parameter 𝐿min. Due to the decrease of the coefficient 𝐿, |𝑠𝑖| may become larger than the predesigned value 𝜎. Then, the adaptive coefficient 𝐿 starts again to increase until the stability of the dynamic system (12) is ensured. Therefore, ...
The stability analysis is presented in both open loop (gain and phase margins) and closed loop (Routh/Hurwitz array/matrix). The feedback gain controller 0 < α f b < 1 tuning is trial-and-error based, but within a very narrow range (0, 1), and similar to onsite tuning. Simulation...
Another approach, outlined in [19], introduces an LQR-based FOSMC scheme that employs linear matrix inequalities to regulate FO chaotic systems. Addressing the stabilization of mismatched FO mechanisms, a novel FOSMC observer has been introduced in [20]. In the meantime, a synergistic SMC method...
where 𝐾2=𝑑𝑖𝑎𝑔([𝑘21,𝑘22,𝑘23]) is a positive diagonal constant matrix, 𝑑̂𝑋 is the observed value from the disturbance observer, serving as compensation for the controller. Let 𝑝𝑐(𝑣𝑡) be the output of 𝑝¯(𝑣𝑡) through the low-pass filter ...
This requires meticulous control of the battery voltage, which must be adjusted in line with specific load characteristics. Therefore, the integration of a well-designed power converter circuit is crucial, as it plays a pivotal role in generating different DC voltage outputs. In this study, we ...
The following nominal system structure of a simplified AUV model indicates that its DOFs and configuration must be realized such that an approximation by a suitable regression matrix multiplied by an unknown vector is achieved as follows: M ⌢ η ¨ + F ( q ) η ˙ + g ⌢ ( η ) =...