Abstract In this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. The upper bound of the system disturbances is not required. Fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. Moreover, the controller is develope...

in this paper, two methods have been used: multi-layer perceptron artificial neural network (ann-mlp) and universal kriging to estimate of velocity field. neural network is an information processing system which is formed by a large number of simple processing elements, known as artificial nerves. it is formed by a number of nodes and weights connecting the nodes. the input data are multiplied ...

The objective of this study is to design a robust direct model reference adaptive controller (DMRAC) for a nonlinear cardiovascular model over a range of plant parameters representing a variety of physical conditions. The direct adaptive controllers used in thisd study require the plant to be almost strictly positive real (ASPR) that is, for a plant to be controlled there must exist a feedback ...

Based on unit feedback closed-loop control structure, a simple analytical design method of decoupling controller matrix is proposed in terms of idea of coupling matrix for two-input-two-output (TITO) processes with time delays in chemical and industrial practice. By means of powerful robustness of two degree-of-freedom PID Desired Dynamic Equation (DDE) method, PID decoupling controller is anal...

Tracking of reference signals yref(·) by the output y(·) of linear (as well as a considerably large class of nonlinear) single-input, single-output system is considered. The system is assumed to have strict relative degree two with (“weak”) stable zero dynamics. The control objective is tracking of the error e = y− yref and its derivative ė within two prespecified performance funnels, resp. Thi...

This paper proposes making displays and input devices as first-class citizens in a networked system environment for collaborative applications. The paper describes a virtually shared model that enables users to use remote displays as extensions of their local displays and to allow multiple users to use multiple cursors and keyboards to input and control shared applications and their windows sim...

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges to the reference at a rate that depends on the behavior of the transfer function of the plant on the imaginary axis. In addition, we construct a controller t...

Many people who are mobility impaired are, for a variety of reasons, incapable of using an ordinary wheelchair. In some instances, a power wheelchair also cannot be used, usually because of the difficulty the person has in controlling it (often due to additional disabilities). This paper describes two low-cost robotic wheelchair prototypes that assist the operator of the chair in avoiding obsta...

The motivation behind this paper is to seek alternative techniques to achieve a near optimal controller for non-linear systems without solving the analytical problem. In classical optimal control systems, the system states and optimization co-state parameters generate a two-point boundary value problem (TPBVP) using Pontryagin's minimum principle (PMP). The paper contributes a new fuzzy time-op...

In this paper are presented the analysis of three-phase boost rectifier converters in close loop using PI classical controller and PI fuzzy controller. A multi-loop controller for the three-phase boost rectifier consists of an outer loop to regulate the output voltage and two inner current loops one each for the d and q axis input currents. The current loops control the decoupled channels of th...