This paper proposes a fault detection method for an actuator fault of an aluminum plate thermal process with input constraints. Operator-based robust right coprime factorization approach is utilized in this method. In details, after creating a mathematical model, a robust tracking operator system is designed. Following this, design of the fault detection system is given. Finally, experiment is ...

A control synthesis scheme for the feedback linearization of single-input single-output nonlinear systems subject to constraints is presented. The approach requires an external, statedependent saturation element, which translates the actuator bounds to the feedback linearizing control input. Thus the \linearizing" properties of the di erential geometric controller are preserved, and a linear an...

Manipulators with free joints are second-order nonholonomic systems whose dynamical constraints are nonintegrable. Such systems are known to be underactuated systems which can be controlled by less actuator than the dimension of the configuration space. Previously proposed methods to control free-joint manipulators have been based on the assumption of perfectly frictionless free joints. In this...

Focus tunable, adaptive lenses provide several advantages over traditional lens assemblies in terms of compactness, cost, efficiency, and flexibility. To further improve the simplicity and compact nature of adaptive lenses, we present an elastomer-liquid lens system which makes use of an inline, transparent electroactive polymer actuator. The lens requires only a minimal number of components: a...

In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in the case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the controller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure for the fault identification and ...

This paper presents a novel disturbance observer-based adaptive neural network control for hydraulic knee exoskeleton with valve deadband and output constraint. Adaptive networks are employed to approximate the unknown nonlinearities of actuator, i.e., unmodeled dynamics caused by leakage. A observer is designed integrated into controller compensate external equivalent interactive force acted o...

This paper presents a design procedure of the ARHC(Adaptive Receding Horizon Control) of the looper-tension controller in hot strip finishing mill. The controller is applied to satisfy the constraints of the control input and attenuate the disturbance of the actuator. The system matrices of the looper model are periodically updated during online simulation. Moreover the closed loop stability of...

This note considers linear systems subject to actuator saturation. An antiwindup technique is used to enlarge the domain of attraction of the closed-loop system under an a priori designed linear dynamic feedback law. The design of the antiwindup compensation gain is formulated and solved as an iterative optimization problem with LMI constraints. Numerical examples are used to demonstrate the ef...

This paper proposes a methodology for output feedback control of parabolic PDE systems with input constraints. Initially, Galerkin’s method is used for the derivation of a finite-dimensional ODE system that captures the dominant dynamics of the PDE system. This ODE system is then used as the basis for the synthesis, via Lyapunov techniques, of stabilizing bounded output feedback control laws th...