This paper presents a method that a control lyapunov functions of linear systems can be constructed by solving a lyapunov function. It proves that the method can provide all quadratic control lyapunov functions for a ...
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ISBN:
(纸本)9787811243901
This paper presents a method that a control lyapunov functions of linear systems can be constructed by solving a lyapunov function. It proves that the method can provide all quadratic control lyapunov functions for a given linear system. Moreover, by using the controllyapunov function a linear feedback is established to stabilize the linear system.
Nonlinear model predictive control (NMPC) suffers from problems of closed loop instability and huge computational burden, which greatly limit its applications in real plants. In this paper, a new NMPC algorithm, whose...
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Nonlinear model predictive control (NMPC) suffers from problems of closed loop instability and huge computational burden, which greatly limit its applications in real plants. In this paper, a new NMPC algorithm, whose stability is robust with respect to regulable computational cost, is presented. First, a new generalized pointwise min-norm (GPMN) control, as well as its analytic form considering a super-ball type input constraint, is given. Second, the GPMN controller is integrated into a normal NMPC algorithm as a structure of control input profile to be optimized, called GPMN enhanced NMPC (GPMN-ENMPC). Finally, a numerical example is presented and simulation results exhibit the advantage of the GPMN-ENMPC algorithm: computational cost can be regulated according to the computational resources with guaranteed stability.
In this paper, we use the definition of control lyapunov functions to study finite time inverse optimal control for affine nonlinear systems. Based on control lyapunov functions, a finite time universal control formul...
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ISBN:
(纸本)9783037853122
In this paper, we use the definition of control lyapunov functions to study finite time inverse optimal control for affine nonlinear systems. Based on control lyapunov functions, a finite time universal control formula is presented, which can ensure the closed-loop system is finite time stable. From this, less conservative conditions for the finite time inverse optimal control are derived. We design a finite time inverse optimal control law, which minimizes the cost functional. A numerical example verifies the validity of the proposed method.
This paper deals with finite time inverse optimal control for affine nonlinear systems. Based on control lyapunov functions, a universal control formula is presented to ensure that the closed-loop system is finite tim...
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ISBN:
(纸本)9781457720727
This paper deals with finite time inverse optimal control for affine nonlinear systems. Based on control lyapunov functions, a universal control formula is presented to ensure that the closed-loop system is finite time stable. From this, less conservative conditions for the finite time inverse optimal control are derived. A finite time inverse optimal control law that minimizes the cost functional is designed. A numerical example is used to illustrate the effectiveness of the proposed design technique.
This paper deals with finite time stabilization for a class of affine nonlinear systems. A sufficient condition is developed for finite time stabilization and a control law is designed to ensure that the equilibrium o...
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ISBN:
(纸本)9789881563811
This paper deals with finite time stabilization for a class of affine nonlinear systems. A sufficient condition is developed for finite time stabilization and a control law is designed to ensure that the equilibrium of the closed-loop system is finite time stable. Further more, a control law for finite time inverse optimal stabilization is obtained. Finally, an example is given to illustrate the applications of theorems established in this paper.
A method is developed by which control lyapunov functions of a class of nonlinear systems can be constructed systematically. Based on the controllyapunov function, a feedback control is obtained to stabilize the clos...
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A method is developed by which control lyapunov functions of a class of nonlinear systems can be constructed systematically. Based on the controllyapunov function, a feedback control is obtained to stabilize the closed-loop system. In addition, this method is applied to stabilize the Benchmark system. A simulation shows the effectiveness of the method.
VSC-HVdc has become an important member in the field of power electronics with application in transmission systems thanks to its capability of fast response operation and independent control of active and reactive pow...
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ISBN:
(纸本)9781424421893
VSC-HVdc has become an important member in the field of power electronics with application in transmission systems thanks to its capability of fast response operation and independent control of active and reactive power. An appropriate control strategy and a correct selection of input signals allow the VSC-HVdc to enhance transient stability, damp power oscillations and provide voltage support in power systems in a significant way. This paper presents, as part of a development of a Multichoice control for a VSC-HVdc, the derivation of a control strategy for transient stability, based on controllyapunov Function. The VSC-HVdc is represented by a general model, referred to as Injection Model which represents the VSC-HVdc as an element in the power system that provides adequate interaction with other system elements.
This paper deals with finite time stabilization for a class of affine nonlinear systems.A sufficient condition is developed for finite time stabilization and a control law is designed to ensure that the equilibrium of...
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This paper deals with finite time stabilization for a class of affine nonlinear systems.A sufficient condition is developed for finite time stabilization and a control law is designed to ensure that the equilibrium of the closed-loop system is finite time *** more,a control law for finite time inverse optimal stabilization is ***,an example is given to illustrate the applications of theorems established in this paper.
This paper develops a fuzzy logic based position controller whose membership functions are tuned by genetic algorithm. The main goal is to ensure successful velocity and position trajectories tracking between the mobi...
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This paper develops a fuzzy logic based position controller whose membership functions are tuned by genetic algorithm. The main goal is to ensure successful velocity and position trajectories tracking between the mobile robot and the virtual reference cart. The proposed fuzzy controller has two inputs and two outputs. The first input represents the distance between the mobile robot and the reference cart. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. The outputs represent linear and angular velocity commands, respectively. The performance of the fuzzy controller is validated through comparison with previously developed mobile robot position controller based on control lyapunov functions (CLF). Simulation results indicate good performance of position tracking while at the same time a substantial reduction of the control torques is achieved.
In this paper, the problem of global stabilization with the developed controllyapunov function V has been considered. Some sufficient conditions of global stabilization are presented when (V) over dot is negative sem...
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In this paper, the problem of global stabilization with the developed controllyapunov function V has been considered. Some sufficient conditions of global stabilization are presented when (V) over dot is negative semi-definite, hence effectively extending the realm of application of controllyapunov function. Some examples are presented to show that the results of the paper are useful in stabilization of nonlinear system.
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