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  • 1
    Publication Date: 2012-07-09
    Description: This paper presents a synchronization analysis of networks of a class of power systems using the contraction theory for nonlinear systems. This analysis is characterized by not being based on Lyapunov's stability theory, that is, it is not required to determine a Lyapunov candidate function. Moreover, from the contraction conditions, robustness of the synchronization can be obtained, in this sense, the analysis method is robust. The analysis consists in identifying or proposing a virtual or auxiliary system which is contracting in a region of the state space. It is intended that in this region the trajectories of the systems on the network converge to those of the virtual system and then obtain the synchronization of the systems in the network. The contribution consists in applying this nontraditional analysis to the problem of chaotic synchronization of a network of a class of power systems.
    Print ISSN: 1024-123X
    Electronic ISSN: 1563-5147
    Topics: Mathematics , Technology
    Published by Hindawi
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  • 2
    Publication Date: 2012-07-09
    Description: A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joint are considered unknown. The controller is composed by two parts, a linearizing-like control feedback and a high-gain estimator. The main idea is to lump the uncertain terms into a new state which represents the dynamics of the uncertainties. This new state is then estimated in order to be compensated. In this way the resulting controller is robust. A numerical example for a RR robot manipulator is provided, in order to corroborate the results.
    Print ISSN: 1687-5591
    Electronic ISSN: 1687-5605
    Topics: Computer Science , Technology
    Published by Hindawi
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