In this paper, stability and disturbance attenuation issues for a class of Networked Control Systems (NCSs) under uncertain access delay and packet dropout effects are considered. Our aim is to find conditions on the delay and packet dropout rate, under which the system stability and H∞ disturbance attenuation properties are preserved to a desired level. The basic idea in this paper is to formu...

Disturbance Observer based robot control algorithms provide good performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well known passivity based approaches of Sadegh ...

In the past, rock slope stability analysis were performed either graphically or using a hand-held calculator, but nowadays there are variety of slope stability analysis which can be used according to the field condition and potential failure mode. In 2-D analysis, effect of convex and concave walls are neglected, however concave slopes are believed to be more stable than straight walls due to t...

Disturbance accommodating control theory provides a method for designing feedback controllers which automatically detect and minimize the effect of waveform-structured disturbances. This paper presents a stochastic disturbance accommodating controller which utilizes a Kalman estimator to determine the necessary corrections to the nominal control input and thus minimizes the adverse effects of b...

The postural stability of wheelchair users experiencing external perturbations was examined. Rotation of a tilt platform generated moments in the trunks of subjects seated in a manual wheelchair on the platform. The magnitude and duration of the moments were on the order of those that might be encountered in the sagittal plane during controlled braking maneuvers in a vehicle. Four subjects with...

In this paper, the stabilization strategies of a general nonlinear car-following model with reaction-time delay of the drivers are investigated. The reaction-time delay of the driver is time varying and bounded. By using the Lyapunov stability theory, the sufficient condition for the existence of the state feedback control strategy for the stability of the car-following model is given in the fo...

In this paper, a nonlinear discrete-time system in the presence of input disturbance and measurement noise is approximated by subsystems described by the linear pulse-transfer functions with the subjection of input disturbance and measurement noise. Although the input disturbance and the measurement noise are unknown, they are modeled as known pulse-transfer functions. The approximation error b...

In this paper, we present a modular control strategy to achieve global asymptotic stability for the regulation problem of a single-axis A M B in the presence of an unknown sinusoidal disturbance (i.e., the amplitude and the frequency are unknown). Specifically, we design a set of linear, B IBO .filters to .facilitate the utilization of standard adaptive control techniques to compensate for the ...

Abstract: This paper deals with asymptotic rejection of unmatched general periodic disturbances in nonminimum phase nonlinear output feedback systems. The steady state responses are defined for unstable systems subject to general periodic disturbances, and the generalized gain and phase are defined for stable systems subject to general periodic disturbances. Based on the new definitions, new re...

— Control of nonlinear systems with unknown disturbances is considered in this paper using disturbance observer based control (DOBC) approach. The disturbances concerned are supposed to be time-varying but with bounded variation. For a nonlinear system with well-defined relative degree from the disturbances to the output, a nonlinear disturbance observer is presented to estimate the unknown dis...