This paper considers the position control problem of nonholonomic mobile robots with plant uncertainties and external disturbances. A robust passivity-based controller using fuzzy logic is proposed based on the reduced-form dynamic model of nonholonomic systems. The fuzzy logic system, whose parameters are tuned on-line, is introduced to learn the unknown (uncertain) plant dynamics due to the u...

Extreme climatic events are key factors in initiating gradual or sudden changes in forest ecosystems through the promotion of severe, tree-killing disturbances such as fire, blowdown, and widespread insect outbreaks. In contrast to these climatically-incited disturbances, little is known about the more direct effect of drought on tree mortality, especially in high-elevation forests. Therefore p...

Sliding mode control synthesis is developed for a class of uncertain time-delay systems with nonlinear disturbances and unknown delay values whose unperturbed dynamics is linear. The synthesis is based on a new delay-dependent stability criterion. The controller constructed proves to be robust against sufficiently small delay variations and external disturbances. An admissible upperbound such t...

Finite-time synchronization (FTS) of uncertain fractional-order memristive neural networks (FMNNs) with leakage and discrete delays is studied in this paper, which the impacts parameters as well external disturbances are considered. First, adaptive terminal sliding mode control scheme (FATSMC) designed, can effectively estimate upper bounds unknown disturbances. Second, FTS master–slave FMNNs r...

The paper deals with the reliable H∞ filtering problem for linear uncertain continuous-time systems with bounded disturbances. Different from the existing approaches, the filter is designed in certain finite frequency ranges, which is important in practice, since the full frequency approaches are conservative to some extent for the case when the frequency ranges of disturbances are known before...

In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and supp...

With the aid of disturbance observer strategy, this article aims to investigate rejection and stabilization problems for periodic piecewise time-varying systems that are subject delays, parameter uncertainties, nonlinear perturbations exogenous disturbances. To be more specific, built by segmenting fundamental period into a limited number subintervals. Further, disturbances engendered from an s...

In this paper we develop globally stabilizing robust/disturbance rejection controllers for rotating stall and surge in axial flow compressors with uncertain system dynamics and exogenous disturbances. Specifically, using the nonlinearnonquadratic disturbance rejection optimal control framework for systems with bounded energy (square-integrable) L2 disturbances developed in [15] and the nonlinea...

A direct adaptive non-linear control framework for multivariable non-linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non-linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stabili...

In this paper, a robust adaptive controller for a class of nonlinear uncertain discrete-time systems is developed by combining the backstepping procedures with a simple parameter estimator subject to parameter projection. It is shown that the proposed controller can ensure boundedness of all signals in the overall adaptive systems in the presence of unmodelled dynamics and disturbances. It can ...