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In this paper, an adaptive robust H ∞ control scheme is developed for controlling double support balance systems with uncertain parameters and external disturbances. A coordination transformation of the dual-cylinder electro-hydraulic motion model is used to help in designing the H ∞ controller, which aims to against external disturbances and parameter uncertainties from the linear part of the system. An updating law for the parameters of the adaptive controller is proposed to compensate some negative effects caused by the nonlinear parameter drift. It can be clearly observed from the simulation results that the proposed control scheme performs robustly with respect to both the external disturbances and the system parameter uncertainties. [ABSTRACT FROM AUTHOR]

Abstract In this paper, the multiple model strategy is applied to the adaptive control of switched linear systems to improve the transient performance. The solvability of the adaptive stabilization problem of each subsystem is not required. Firstly, the two-layer switching mechanism is designed. The state-dependent switching law with dwell time constraint is designed in the outer-layer switching to guarantee the stability of the switched systems. During the interval of dwell time constraint, the parameter resetting adaptive laws are designed in the inner-layer switching to improve the transient performance. Secondly, the minimum dwell time constraint providing enough time for multiple model adaptive control strategy to work fully and maintaining the stability of the switched systems is found. Finally, the proposed switched multiple model adaptive control strategy guarantees that all the closed-loop system signals remain bounded and the state tracking error converges to zero. [ABSTRACT FROM AUTHOR]