This paper presents a direct multivariable adaptive controller using neural network which adapts to the changing parameters of the multivariable nonlinear system with nonminimum phase behavior, mutual interactions and time delays. It base on the theory which a nonlinear multivariable systems to be controlled is divided a linear part and a nonlinear part. The controller parameters of the linear ...

in this paper, we try to use modeling based on singular perturbation theory, in order to control satellite attitude during the wide rolling angle maneuvering through nonlinear h∞ control strategy. differential equations describing dynamics of the satellite are presented first, and by choosing the appropriate dynamic model for actuators and based on the standard singular perturbation model, the ...

this paper considers the problem of stable limit cycles generating in a class of uncertain nonlinear systems which leads to stable oscillations in the system’s output.this is a wanted behavior in many practical engineering problems. for this purpose, first the equation of the desirable limit cycle is achieved according to shape, amplitude and frequency of the required output oscillations. then,...

The mathematical representation of a concept with uncertainty is one of the foundations of Artificial Intelligence. Uncertain Control has been the core in VSC systems and nonlinear control systems, as the representation of Uncertainty is required. Cloud Model represents the uncertainty with expectation Ex, entropy En and Hyper-entropy He by combining Fuzziness and Randomness together. Randomnes...

In this paper, we consider the stabilization controller for some desired trajectory of nonlinear systems. For such a problem, it should be one of the best strategies to apply the linear time-varying controller for linear approximate model around the trajectory. However, because a controller design procedure for linear time-varying system is not necessarily simple, some other methods like variou...

In this paper the design of an optimal nonlinear H∞ controller for flexible joint robot (FJR) is presented. An approximate solution based on Taylor Series expansion is considered for the Hamilton-Jacobi-Isaac (HJI) inequality. A two-degree-of-freedom controller combined of optimal nonlinear H∞ controller and inverse dynamics controller is proposed to tackle the regulation as well as tracking pr...

In this paper, modeling and nonlinear controller design for an omni-directional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the Trajectory Linearization Control (TLC) method. Some simulation results of the controller are presented.

In general, i t is not easy to design a decentralized controller for nonlinear interconnected systems. In this study, the stability of nonlinear interconnected systems is studied via fuzzy decentralized control method. First, the nonlinear interconnected systems are represented by an equivalent Takagi-Sugeno type fuzzy model. If the state variables are unavailable, a fuzzy observer-based state ...

This paper is focused on issues of process modeling and two model based control strategies of a fed-batch sugar crystallization process applying the concept of artificial neural networks (ANNs). The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control inpu...