Bibliographies thématiques / Adaptive Nonlinear Controller Design

Littérature scientifique sur le sujet « Adaptive Nonlinear Controller Design »

Auteur : Grafiati
Publié le 6 septembre 2023

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Articles de revues sur le sujet "Adaptive Nonlinear Controller Design"

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Chen, Bor-Sen, et Yih-Fang Chang. « Constant Turning Force Adaptive Controller Design ». Journal of Engineering for Industry 111, no 2 (1 mai 1989) : 125–32. http://dx.doi.org/10.1115/1.3188741.

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In the Constant Turning Force Adaptive Control system, the cutting process is nonlinear time-varying; besides, the stability cannot be assured by classical control theory since the cutting tools usually cut a workpiece at various cutting depths. In this paper, based on the small gain theorem, we propose a new method to design a PI controller with high robustness to stabilize the force feedback control system against the nonlinear time-varying gain perturbation in the cutting process. A simple design procedure will be presented and several illustrative simulation results are given. The practical experimental results of a converted lathe with the PI controller designed with this method also show a good robustness and good reliability.
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Nuella, Imma, Cheng Cheng et Min-Sen Chiu. « Adaptive PID Controller Design for Nonlinear Systems ». Industrial & ; Engineering Chemistry Research 48, no 10 (20 mai 2009) : 4877–83. http://dx.doi.org/10.1021/ie801227d.

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Izumi, Kiyotaka, Keigo Watanabe et Masatoshi Nakamura. « Design of Simple Adaptive Nonlinear Robust Controller. » Transactions of the Japan Society of Mechanical Engineers Series C 61, no 581 (1995) : 85–91. http://dx.doi.org/10.1299/kikaic.61.85.

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Lee, Jae-kwan, et Ken-ichi Abe. « Robust Adaptive Nonlinear Controller Design for Uncertain Nonlinear Systems ». IFAC Proceedings Volumes 31, no 22 (août 1998) : 339–44. http://dx.doi.org/10.1016/s1474-6670(17)35965-7.

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Bidikli, Baris. « An observer-based adaptive control design for the maglev system ». Transactions of the Institute of Measurement and Control 42, no 14 (29 juin 2020) : 2771–86. http://dx.doi.org/10.1177/0142331220932396.

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In this study, a nonlinear adaptive controller that can be used to control a magnetic levitation (maglev) is designed. The designed controller is equipped with a nonlinear velocity observer to provide the control without measuring velocity. Its capability to adaptively compensate all parametric uncertainties during the control process is one of the main advantages of this controller. Utilizing this capability, control of the maglev system can be realized without using any knowledge about system parameters. Due to the fast convergence capability of the designed observer and the desired model dependent structure of the adaptation rules, the proposed control design provides better performance than most of the robust and adaptive controllers that have been frequently used to control maglev system. The observer dynamics are analyzed via a Lyapunov–like preliminary analysis. Then, convergence of the observation and the tracking errors under the closed–loop operation and stability of the closed–loop error dynamics are proven via a Lyapunov–based stability analysis where the result obtained in the mentioned preliminary analysis is used. Performance of the designed observer–controller couple is demonstrated via experimental results. The efficiency of the designed controller is tested against a robust proportional–integral–derivative (PID) controller and an another Lyapunov–based nonlinear robust controller called as robust integral of sign of error (RISE) controller. Experimental results show that the designed controller performs the best tracking performance with the least control effort among these three controllers.
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Lou, Xiao Chun. « Adaptive Controller Design for a Class of Discrete Nonlinear Systems ». Applied Mechanics and Materials 182-183 (juin 2012) : 1260–64. http://dx.doi.org/10.4028/www.scientific.net/amm.182-183.1260.

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In this paper, we have discussed the adaptive controller problem for a class of nonlinear discrete systems. Firstly, the general nonlinear discrete-time system is transformed into a new form which is more suitable for adaptive controller design. Based on the new model, the observer is proposed to estimate the unavailable states. The adaptive controller is designed to track the desired trajectory.
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Zhou, Di, Tielong Shen et Katsutoshi Tamura. « Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession ». Journal of Dynamic Systems, Measurement, and Control 128, no 3 (12 septembre 2005) : 592–99. http://dx.doi.org/10.1115/1.2232683.

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The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.
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Nath, Nitendra, Irfan Kil, Ugur Hasirci, Richard E. Groff et Timothy C. Burg. « Nonlinear Adaptive Optimal Controller Design for Anti-Angiogenic Tumor Treatment ». Biomedicines 11, no 2 (8 février 2023) : 497. http://dx.doi.org/10.3390/biomedicines11020497.

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Angiogenesis is an important process in tumor growth as it represents the regime when the tumor recruits blood vessels from the surrounding tissue to support further tumor growth. Anti-angiogenic treatments aim to shrink the tumor by interrupting the vascularization of the tumor; however, the anti-angiogenic agents are costly and the tumor response to these agents is nonlinear. Simple dosing schemes, e.g., a constant dose, may yield higher cost or lower efficacy than an approach that considers the tumor system dynamics. Hence, in this study, the administration of anti-angiogenic treatment is considered as a nonlinear control problem. The main aim of the controller design is to optimize the anti-angiogenic tumor therapy, specifically, to minimize the tumor volume and drug dose. Toward this aim, two nonlinear optimal controllers are presented. The first controller ensures exponential tracking of a desired, optimal tumor volume profile under the assumption that all parameters in the system model are known. The second controller, on the other hand, assumes all the parameters are unknown and provides asymptotic tracking. Both controllers take pharmacokinetics and pharmacodynamics into account, as well as the carrying capacity of the vascular network. Lyapunov based arguments are used to design the controllers, using stability arguments, and numerical simulation results are presented to demonstrate the effectiveness of the proposed method.
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Tan, Yaolong, et Ioannis Kanellakopoulos. « Adaptive nonlinear observer/controller design for uncertain nonlinear systems 1 ». IFAC Proceedings Volumes 32, no 2 (juillet 1999) : 2363–68. http://dx.doi.org/10.1016/s1474-6670(17)56401-0.

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Amini, Samaneh. « Adaptive Sliding Mode Controller Design For Attitude Small UAV ». IAES International Journal of Robotics and Automation (IJRA) 4, no 3 (1 septembre 2015) : 219. http://dx.doi.org/10.11591/ijra.v4i3.pp219-229.

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The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances. In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.
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Thèses sur le sujet "Adaptive Nonlinear Controller Design"

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Fiorentini, Lisa. « Nonlinear Adaptive Controller Design For Air-breathing Hypersonic Vehicles ». The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1274986563.

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Zhao, Qingrong. « Reduced-Order Robust Adaptive Controller Design and Convergence Analysis for Uncertain SISO Linear Systems with Noisy Output Measurements ». University of Cincinnati / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1194564628.

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Poon, Kai-yin Kenny, et 潘啟然. « An investigation on the application of nonlinear robust adaptive control theory in AC/DC power systems ». Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B38898949.

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Nketoane, Paseka Augustinus. « Design and implementation of a nonlinear controller in PLC as a part of an adroit scada system for optimal adaptive control of the activated sludge process ». Thesis, Cape Peninsula University of Technology, 2009. http://hdl.handle.net/20.500.11838/1106.

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Thesis (MTech (Electrical Engineering))--Cape Peninsula University of Technology, 2009
More than 70% of the earth's surface is covered by water, only a small part of which is suitable for either human consumption or agricultural use. Due to pollution from agriculture, households and industry reaching rivers, lakes and seas it is Important for wastewater to be properly treated in order to remove harmful substances before it reaches the environment. Strict environmental and health regulations together with a demand for cost effective ways of wastewater treatment have made control technology in wastewater Treatment Plants an important priority. Dissolved oxygen (DO) is the amount of oxygen in the effluent and it plays a vital role of controlling VV\YTP. Oxygen dissolves in water through mixing water surface with the atmosphere, The dissolved oxygen concentration in the aerobic part of an activated sludge process should be sufficiently high to supply enough oxygen to the microorganisms in the sludge. an excessive high DO leads to high energy consumption and may also deteriorate the sludge quality, A high DO concentration in the internally recirculated water also makes the denitrification less efficient Hence, both for economical and process reasons, it is of interest to control the DO. The used controllers are normally linear controllers, proportional integral (PI) or proportional integral derivative (PID) ones. The work of these controllers leads to bad system performance, because, the process of dissolving oxygen into the wastewater is a nonlinear process and requires nonlinear control. The aim of the research project is to develop methods for design of linear and nonlinear controllers of the concentration of the DO in the aeration tank of the WWTP and to implement the designed controllers in the frameworks of PLC. The nonlinear linearizing controller based on a reference model and Lyapunov second method is designed. Additionally a linear controller is developed in a form of PI controller based on pole placement method to improve, the performance of the closed loop system. The resultant controller is to be on a PLC as a part of Adroit SCADA system. The developed programmes are used to control the wastewater treatment process in laboratory scale plant and can be applied as a part of SCADA software for control of the wastewater treatment plants.
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Dengler, Christian [Verfasser], Boris [Akademischer Betreuer] Lohmann, Boris [Gutachter] Lohmann et Eyke [Gutachter] Hüllermeier. « Design of Adaptive Nonlinear Controllers using Supervised Learning / Christian Dengler ; Gutachter : Boris Lohmann, Eyke Hüllermeier ; Betreuer : Boris Lohmann ». München : Universitätsbibliothek der TU München, 2021. http://d-nb.info/1233428071/34.

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Diao, Lili. « Nonlinear bounded controller design ». Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ59374.pdf.

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Karagiannis, Dimitrios. « Nonlinear adaptive control design with applications ». Thesis, Imperial College London, 2005. http://hdl.handle.net/10044/1/8320.

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Panjapornpon, Chanin Soroush Masoud. « Model-based controller design for general nonlinear processes / ». Philadelphia, Pa. : Drexel University, 2005. http://dspace.library.drexel.edu/handle/1860/611.

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Ustunturk, Ahmet. « Digital Controller Design For Sampled-data Nonlinear Systems ». Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614267/index.pdf.

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In this thesis, digital controller design methods for sampled-data nonlinear systems are considered. Although sampled-data nonlinear control has attracted much attention in recent years, the controller design methods for sampled-data nonlinear systems are still limited. Therefore, a range of controller design methods for sampled-data nonlinear systems are developed such as backstepping, adaptive and robust backstepping, reduced-order observer-based output feedback controller design methods based on the Euler approximate model. These controllers are designed to compensate the effects of the discrepancy between the Euler approximate model and exact discrete time model, parameter estimation error in adaptive control and observer error in output feedback control which behave as disturbance. A dual-rate control scheme is presented for output-feedback stabilization of sampled-data nonlinear systems. It is shown that the designed controllers semiglobally practically asymptotically (SPA) stabilize the closed-loop sampled-data nonlinear system. Moreover, various applications of these methods are given and their performances are analyzed with simulations.
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Skaf, Zakwan. « Reliable controller design for a class of nonlinear systems ». Thesis, University of Manchester, 2011. https://www.research.manchester.ac.uk/portal/en/theses/reliable-controller-design-for-a-class-of-nonlinear-systems(a6215fa6-271a-41da-b526-a072cbab74c4).html.

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Control design for nonlinear systems remains an open problem in control theory despite the recent increase in research attention. This PhD work is motivated by this fact, addressing the constructive observer design approach, the output regulation problem, minimum entropy control, fault tolerant control (FTC), and iterative FTC for nonlinear systems.
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Livres sur le sujet "Adaptive Nonlinear Controller Design"

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Ioannis, Kanellakopoulos, et Kokotović Petar V, dir. Nonlinear and adaptive control design. New York : Wiley, 1995.

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Bromnick, P. A. Design of adaptive speed controller for rotating motor. Manchester : UMIST, 1993.

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Nonlinear control design : Geometric, adaptive, and robust. London : Prentice Hall, 1995.

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DeLonga, David M. A control system design technique for nonlinear discrete time systems. Woods Hole, Mass : Woods Hole Oceanographic Institution, 1988., 1988.

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Nassirharand, Amir. Computer-aided nonlinear control system design : Using describing function models. London : Springer, 2012.

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Tesar, Delbert. Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance. Austin, Tex : Dept. of Mechanical Engineering, University of Texas at Austin, 1990.

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Center, Ames Research, dir. Nonlinear system controller design based on domain of attraction : An application to CELSS analysis and control. Moffett Field, Calif : National Aeronautics and Space Administration, Ames Research Center, 1987.

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Ostroff, Aaron J. High-Alpha Research Vehicle (HARV) longitudinal controller : Design, analyses, and simulation results. Hampton, Va : National Aeronautics and Space Administration, Langley Research Center, 1994.

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Ostroff, Aaron J. High-alpha research vehicle (HARV) longitudinal controller : Design, analyses, and simulation results. Hampton : National Aeronautics and Space Administration, Langley Research Center, 1994.

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Ostroff, Aaron J. High-Alpha Research Vehicle (HARV) longitudinal controller : Design, analyses, and simulation results. Hampton, Va : National Aeronautics and Space Administration, Langley Research Center, 1994.

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Chapitres de livres sur le sujet "Adaptive Nonlinear Controller Design"

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Sun, Chenggong, et Li Li. « Stable Fuzzy Adaptive Controller Design for Nonlinear Singularly Perturbed Systems ». Dans Advances in Intelligent and Soft Computing, 695–701. Berlin, Heidelberg : Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-27329-2_95.

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Jamalabadi, H. R., F. Boroomand, C. Lucas, A. Fereidunian, M. A. Zamani et H. Lesani. « A Novel Hybrid Adaptive Nonlinear Controller Using Gaussian Process Prior and Fuzzy Control ». Dans Integrated Systems, Design and Technology 2010, 301–12. Berlin, Heidelberg : Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-17384-4_24.

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Ren, Junsheng. « Adaptive Fuzzy Controller Design for Strict-Feedback Nonlinear System Using Command Filtering ». Dans Lecture Notes in Electrical Engineering, 223–31. Berlin, Heidelberg : Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-38524-7_24.

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Lakhekar, G. V., L. M. Waghmare et Sundarapandian Vaidyanathan. « Diving Autopilot Design for Underwater Vehicles Using an Adaptive Neuro-Fuzzy Sliding Mode Controller ». Dans Advances and Applications in Nonlinear Control Systems, 477–503. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30169-3_21.

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Cho, Hyun Seob. « Adaptive Controller Design of the Nonlinear Dynamic Systems with a Neural Networks Compensator ». Dans Communications in Computer and Information Science, 597–602. Berlin, Heidelberg : Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-27180-9_72.

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Maiti, Samiran, et Achintya Das. « Design of One Nonlinear Controller for a MIMO System Using Adaptive Backstepping Method ». Dans Learning and Analytics in Intelligent Systems, 14–25. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30271-9_2.

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Yu, Li, Xiaoxiong Liu, Weiguo Zhang et Ming Ruichen. « Robust Flight Controller Design Based on Adaptive Nonlinear Dynamic Inverse with Reference Model ». Dans Lecture Notes in Electrical Engineering, 969–79. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8155-7_81.

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Boulkroune, A., M. M’Saad, M. Tadjine et M. Farza. « Design of a Fuzzy Adaptive Controller for Uncertain Nonlinear Systems with Dead-Zone and Unknown Control Direction ». Dans Intelligent Systems : From Theory to Practice, 499–517. Berlin, Heidelberg : Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-13428-9_25.

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Trung, Dang Ngoc, Dao Phuong Nam et Do Trung Hai. « Nonlinear Design of Adaptive Controllers for Bilateral Teleoperation Systems with Variable Time Delays ». Dans Advances in Engineering Research and Application, 520–33. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-37497-6_60.

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Abbasi, Hamidreza, Ali Akbar Safavi et Maryam Salimifard. « Type-2 Fuzzy Wavelet Neural Network Controller Design Based on an Adaptive Gradient Descent Method for Nonlinear Dynamic Systems ». Dans Applied Methods and Techniques for Mechatronic Systems, 229–47. Berlin, Heidelberg : Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-36385-6_12.

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Actes de conférences sur le sujet "Adaptive Nonlinear Controller Design"

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Kanellakopoulos, I., M. Krstic et P. V. Kokotovic. « Interlaced Controller-Observer Design for Adaptive Nonlinear Control ». Dans 1992 American Control Conference. IEEE, 1992. http://dx.doi.org/10.23919/acc.1992.4792321.

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Sun, Li-Ying, et Yi Liu. « Nonlinear adaptive backstepping controller design for static VAR compensator ». Dans 2010 Chinese Control and Decision Conference (CCDC). IEEE, 2010. http://dx.doi.org/10.1109/ccdc.2010.5498656.

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Noori, Bahare, et Mohammad Javad Khosrowjerdi. « Robust adaptive failure tolerant controller design for nonlinear systems ». Dans 2017 Iranian Conference on Electrical Engineering (ICEE). IEEE, 2017. http://dx.doi.org/10.1109/iraniancee.2017.7985118.

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Kelouwani, Sousso, Christian Ouellette et Paul Cohen. « Adaptive nonlinear controller design for differential-drive mobile platforms ». Dans 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2010. http://dx.doi.org/10.1109/aim.2010.5695783.

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Yan, R., Z. Y. Dong, T. K. Saha et J. Ma. « Nonlinear robust adaptive SVC controller design for power systems ». Dans Energy Society General Meeting. IEEE, 2008. http://dx.doi.org/10.1109/pes.2008.4596208.

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Naibao, He, et Gao Qian. « Adaptive Controller Design for a Class of Nonlinear Systems ». Dans 2011 International Conference on Measuring Technology and Mechatronics Automation (ICMTMA). IEEE, 2011. http://dx.doi.org/10.1109/icmtma.2011.84.

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Yao, Leehter, et Kian-Leong Lim. « Design of Adaptive Fuzzy PID Controller for Nonlinear System ». Dans 2009 Fourth International Conference on Innovative Computing, Information and Control (ICICIC). IEEE, 2009. http://dx.doi.org/10.1109/icicic.2009.163.

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Roy, T. K., M. A. Mahmud, Weixiang Shen et A. M. T. Oo. « Nonlinear adaptive excitation controller design for multimachine power systems ». Dans 2015 IEEE Power & Energy Society General Meeting. IEEE, 2015. http://dx.doi.org/10.1109/pesgm.2015.7285932.

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Sun, Mingxuan. « Adaptive controller designs for nonlinear periodic systems ». Dans 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS 2009). IEEE, 2009. http://dx.doi.org/10.1109/icicisys.2009.5358262.

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Mingjie Li, Zhaojing Wu et Zhongmin Song. « Robust adaptive output-feedback controller design for stochastic nonlinear systems ». Dans 2010 Chinese Control and Decision Conference (CCDC). IEEE, 2010. http://dx.doi.org/10.1109/ccdc.2010.5498246.

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Rapports d'organisations sur le sujet "Adaptive Nonlinear Controller Design"

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Chen, Chien-An, et Ming-Chih Lin. Adaptive-Learning Regeneration Controller Design for Electric Vehicles. Warrendale, PA : SAE International, octobre 2013. http://dx.doi.org/10.4271/2013-32-9018.

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Chopra, Shubham. Evolved Design of a Nonlinear Proportional Integral Derivative (NPID) Controller. Portland State University Library, janvier 2000. http://dx.doi.org/10.15760/etd.512.

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Kokotovic, Peter V. Nonlinear System Design : Adaptive Feedback Linearization with Unmodeled Dynamics. Fort Belvoir, VA : Defense Technical Information Center, septembre 1991. http://dx.doi.org/10.21236/ada248484.

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Kokotovic, Petar V. Nonlinear System Design : Adaptive Feedback Linearization with Unmodeled Dynamics. Fort Belvoir, VA : Defense Technical Information Center, décembre 1992. http://dx.doi.org/10.21236/ada261360.

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Steinberg, Marc L., et Anthony B. Page. Nonlinear Adaptive Flight Control with a Backstepping Design Approach. Fort Belvoir, VA : Defense Technical Information Center, janvier 1998. http://dx.doi.org/10.21236/ada350986.

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Page, Anthony B., et Marc L. Steinberg. Effects of Control Allocation Algorithms on a Nonlinear Adaptive Design. Fort Belvoir, VA : Defense Technical Information Center, juin 1999. http://dx.doi.org/10.21236/ada368467.

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Eguchi, Hiroaki, Takanori Fukao et Koichi Osuka. Design Method of Reference Model for Active Steering Based on Nonlinear Adaptive D* Control. Warrendale, PA : SAE International, septembre 2005. http://dx.doi.org/10.4271/2005-08-0423.

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Brinkerhoff, Derick W., Sarah Frazer et Lisa McGregor-Mirghani. Adapting to Learn and Learning to Adapt : Practical Insights from International Development Projects. RTI Press, janvier 2018. http://dx.doi.org/10.3768/rtipress.2018.pb.0015.1801.

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Adaptive programming and management principles focused on learning, experimentation, and evidence-based decision making are gaining traction with donor agencies and implementing partners in international development. Adaptation calls for using learning to inform adjustments during project implementation. This requires information gathering methods that promote reflection, learning, and adaption, beyond reporting on pre-specified data. A focus on adaptation changes traditional thinking about program cycle. It both erases the boundaries between design, implementation, and evaluation and reframes thinking to consider the complexity of development problems and nonlinear change pathways.Supportive management structures and processes are crucial for fostering adaptive management. Implementers and donors are experimenting with how procurement, contracting, work planning, and reporting can be modified to foster adaptive programming. Well-designed monitoring, evaluation, and learning systems can go beyond meeting accountability and reporting requirements to produce data and learning for evidence-based decision making and adaptive management. It is important to continue experimenting and learning to integrate adaptive programming and management into the operational policies and practices of donor agencies, country partners, and implementers. We need to devote ongoing effort to build the evidence base for the contributions of adaptive management to achieving international development results.
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Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults. SAE International, juillet 2022. http://dx.doi.org/10.4271/2022-01-5056.

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Because autonomous vehicles (AVs) equipped with active front steering have the features of time varying, uncertainties, high rate of fault, and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving lateral stability in steer-by-wire (SBW) vehicles in the presence of abrupt nonlinear faults. First, an upper-level robust H∞ controller is designed to obtain the desired front-wheel steering angle for driving both the yaw rate and the sideslip angle to reach their correct values. Takagi-Sugeno (T-S) fuzzy modeling method, which has shown the extraordinary ability in coping with the issue of nonlinear, is applied to deal with the challenge of the changing longitudinal velocity. The output of the upper controller can be calculated by a parallel distributed compensation (PDC) scheme. Then an event-triggered adaptive fault-tolerant lower controller (ET-AFTC) is proposed to drive the whole SBW system driving the desired steering angle offered by the upper controller with fewer communication resources and strong robustness. By employing a backstepping technique, the tracking performance is improved. The dynamic surface control (DSC) approach is used to avoid the problem of repeated differentiations, and Nussbaum function is adopted to overcome the difficulty of unknown nonlinear control gain. Both the stability of the upper and lower controllers can be guaranteed by Lyapunov functions. Finally, the simulations of Matlab/Simulink are given to show that the proposed control strategy is effectively able to deal with the abrupt nonlinear fault via less communication resources and perform better in ensuring the yaw stability of the vehicle.
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