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Extreme stability margins of interval systems

IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2001年第1期148卷 70-80页

作者： Zhong, YS Tsing Hua Univ Dept Automat Beijing 100084 Peoples R China

The paper deals with the problem of calculating exact extreme stability margins of interval systems consisting of interval plants and fixed controllers based on Bode envelopes. Algorithms are first presented to find the exact extreme phases of an interval real-rational function at a given frequency under the constraint that its module is equal to a given constant. These algorithms are computationally tractable since we need only to calculate phases for six or fewer cases. Then the results on the extreme phases of an interval real-rational function are applied to calculate the extreme case phase and gain margins of an interval system based on its Bode envelope, and to give a new method to find the Nyquist envelope of an interval system.

关键词： Bode diagrams stability margins SISO systems Nyquist envelope control system analysis stability criteria interval systems transfer function rational functions Functional analysis (numerical analysis) Bode envelopes Stability in control theory Nyquist diagrams extreme phases transfer functions interval real-rational function control system analysis and synthesis methods

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Ecological cooperative adaptive cruise control of over-actuated electric vehicles with in-wheel motor in traffic flow

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IET INTELLIGENT TRANSPORT systemS 2021年第6期15卷 765-780页

作者： Xia, Dong Li, Boyuan Zhang, Jie Zhang, Bangji Zhang, Nong Hunan Univ State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Peoples R China Hefei Univ Technol Automot Engn Res Inst Hefei 230009 Peoples R China

Since electric vehicle with in-wheel motor has advantages in aspects of vehicle dynamics control and energy-efficient control, it has been widely applied in the vehicle platoon in the highway. This paper proposes an optimization and control structure that integrates ecological cooperative adaptive cruise control (CACC) for the vehicle platoon, and path tracking and ecological control allocation (Eco-CA) for individual vehicle to improve the energy efficiency of electric vehicles in traffic flow. First, in the upper layer, the suitable driving mode is selected by finite-state machine (FSM) based on surrounding environment. Then the path-planner and ecological CACC in the higher layer are proposed to determine the desired path and desired speed and acceleration profile. After that, in the middle layer, longitudinal motion controller and yaw stability controller are integrated to achieve the desired control targets from upper layer. Finally, in the lower layer, each in-wheel motor torque is optimized by Eco-CA subsystem to reduce the energy consumption of driving motor and tyre friction loss. The simulation results demonstrate that the proposed control strategy can improve the energy efficiency and dynamics control performance.

关键词： Spatial variables control Velocity, acceleration and rotation control control of electric power systems Road-traffic system control Mechanical components Vehicle mechanics Transportation control system analysis and synthesis methods Stability in control theory Self-adjusting control systems

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Assignment of reduced sensitivity eigenstructure

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2000年第1期147卷 104-110页

作者： Ensor, J Davies, R Univ York Dept Elect York YO10 5DD N Yorkshire England

The presented technique addresses the problem of maintaining the powerful design simplicity and visibility of eigenstructure assignment, while reducing closed-loop eigenstructure sensitivity to dominant parameter variations. The method results from consideration of the allowable eigenvector subspace as a complete description of the eigenstructure assignment problem. Variations in open-loop system dynamics can thus be visualised as movements of the closed-loop allowable subspace. If a nonlinear model is linearised about two operating points with intersecting subspaces, assignment from the intersection will yield the same closed-loop eigenstructure at both operating points. This hypothesis is proven, and the analysis extended to include the case of non-intersecting subspaces, where it has been shown that reduced sensitivity solutions may also be generated. This reduced subspace design method has been tested on an eighth-order helicopter model that exhibits significant nonlinearity when forward speed is varied. The results demonstrate a considerable reduction in variation of the closed-loop eigenstructure over conventional techniques. The method is found to be a simple variation to the standard projection technique, while offering implicit consideration of dominant parameter variations.

关键词： dynamics eigenvectors control system synthesis helicopter control control system analysis and synthesis methods aircraft control eigenstructure assignment linear time invariant systems closed-loop systems sensitivity analysis closed loop systems helicopters linear systems Aerospace control state feedback

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Delay dependent criteria for the consensus of second-order multi-agent systems subject to communication delay

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IET control THEORY AND APPLICATIONS 2021年第13期15卷 1724-1735页

作者： Nejadvali, Amir Esfanjani, Reza Mahboobi Farnam, Arash Crevecoeur, Guillaume Sahand Univ Technol Dept Elect Engn Tabriz Iran Univ Ghent Dept Elect Energy Met Mech Construct & Syst Ghent Belgium Flanders Make EEDT Decis & Control Lommel Belgium

In this paper, a distributed controller is designed for the consensus of multi-agent systems in which each agent has a general second-order linear dynamic and the information is exchanged over a data-delaying communication network. Using the sensitivity of system poles to the parameters of the control protocol, graphical delay-dependent synthesis conditions are derived to tune the controller gains. A systematic procedure is developed to attain maximum tolerable transmission delay in the system. Moreover, simpler condition is provided for the special case where the second-order model is reduced to a double integrator. Simulation results are presented to illustrate the merits of the proposed scheme compared to some recent rival ones in the literature.

关键词： control system analysis and synthesis methods Multivariable control systems Distributed parameter control systems

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Stability analysis of T-S fuzzy control systems using parameter-dependent Lyapunov function

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IET control THEORY AND APPLICATIONS 2009年第6期3卷 750-762页

作者： Lam, H. K. Kings Coll London Div Engn London WC2R 2LS England

The system stability of T-S fuzzy-model-based control systems with a parameter-dependent Lyapunov function (PDLF) is investigated. As PDLF approach includes information of the membership function (time derivatives of membership functions), it has been reported that relaxed stability conditions can be achieved compared to the parameter-independent Lyapunov function (PILF). To investigate the system stability, the non-linear plant is represented by a T-S fuzzy model. Various non-parallel distribution compensation (PDC) fuzzy controllers, which can better utilise the characteristic of the PDLF, are proposed to close the feedback loop. To relax the stability conditions, an improved PDLF is employed. Some inequalities are proposed to relate the membership functions and its time derivatives, which allow the introduction of some slack matrices to facilitate the stability analysis. Stability conditions in terms of linear matrix inequalities are derived to aid the design of stable fuzzy-model-based control systems. Simulation examples are given to illustrate the effectiveness of the proposed non-PDC fuzzy control schemes.

关键词： feedback loop nonparallel distribution compensation membership function stability control system synthesis feedback Algebra Stability in control theory Lyapunov methods stability analysis control system analysis and synthesis methods Fuzzy control T-S fuzzy-model-based control system fuzzy control parameter-dependent Lyapunov function linear matrix inequalities

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MICROCOMPUTER IMPLEMENTATION OF A MIMO POLE-ASSIGNMENT SELF-TUNING REGULATOR

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ELECTRONICS LETTERS 1986年第1期22卷 56-58页

作者： MORRIS, AS MAHIEDDINE, F Department of Control Engineering University of Sheffield Sheffield UK

A modified implementation of the Prager and Wellstead multivariable self-tuning regulator is presented which achieves a substantial reduction in computational effort by avoiding the on-line solution of the complex pseudocommutativity relation. The speed and accuracy of the algorithm is demonstrated by its application with a Z80-based system to a simulated process.

关键词： poles and zeros microcomputer implementation Simulation, modelling and identification control system CAD microcomputer applications MIMO pole-assignment self-tuning regulator multivariable control systems simulated process computer-aided design CAD Multivariable control systems complex pseudocommutativity relation digital simulation Z80-based system Self-adjusting control systems self-adjusting systems control engineering computing control system analysis and synthesis methods adaptive control

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PROPERTIES OF MASTER/SLAVE MANIPULATORS

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ELECTRONICS LETTERS 1986年第19期22卷 1019-1020页

作者： VIBET, C Laboratoire de Robotique Industrielle Evry France

The letter deals with the behaviour of master/slave systems in equilibrium. Nonlinear properties of similar or dissimilar telemanipulators are found by introducing a differential receiprocity concept.

关键词： Nonlinear control systems industrial robots telecontrol position control Spatial variables control Robotics control technology and theory Manufacturing processes telemanipulators control system analysis control applications in manufacturing processes feedback feedback loop differential reciprocity concept nonlinear properties nonlinear control systems control system analysis and synthesis methods master/slave manipulators

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NOTE ON DECENTRALIZED STABILIZATION OF UNKNOWN LINEAR INTERCONNECTED systemS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1984年第5期131卷 202-203页

作者： LYOU, J BIEN, Z Department of Electrical Engineering Korea Advanced Institute of Science and Technology Seoul South Korea

Reference is made to a paper by A. Hmamed and L. Radouane (published in IEE Proc. D, control Theory & Appl. , 1983, 130, (2), pp. 57-62), where the problem of stabilization of unknown linear interconnected large-scale systems was considered using the notion of eventual stability. A main result of the paper was that sufficient conditions were given for an interconnected system to be stabilized using only local nonlinear adaptive controllers. In this correspondence, an alternative simple approach based on Lyapunov stability is proposed for the analysis of the stability of an interconnected system in terms of lower-order subsystems and their interconnections.

关键词： large scale systems stability large-scale systems decentralised stabilisation unknown linear interconnected systems linear systems control system analysis Lyapunov stability local nonlinear adaptive controllers Multivariable control systems control system analysis and synthesis methods Stability in control theory

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Fixed-time stabilisation of boundary controlled linear parabolic distributed parameter systems with space-dependent reactivity

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IET control THEORY AND APPLICATIONS 2021年第5期15卷 652-667页

作者： Bao, Chunxia Cui, Baotong Lou, Xuyang Wu, Wei Zhuang, Bo Jiangnan Univ Sch IoT Engn Key Lab Adv Proc Control Light Ind Minist Educ Wuxi 214122 Jiangsu Peoples R China Binzhou Univ Sch Informat Engn Binzhou Peoples R China

The problems of state feedback and output feedback for fixed-time stabilisation of a linear parabolic distributed parameter system with space-dependent reactivity are considered by means of continuous backstepping approach and Lyapunov method. First, the invertible Volterra integral transformation with time dependent gain kernel is adopted to convert the original system into a fixed-time stable target system with time-dependent coefficient. The well-posedness of the resulting kernel equations is proved by the method of successive approximation. Then a state feedback controller is designed to guarantee fixed-time stabilisation of the closed-loop system. Moreover, a fixed-time observer is considered to estimate the state of the original system on the basis of the measurement signal at the boundary. Based on this observer, a observer-based output feedback controller is established to fixed-time stabilise the closed-loop system in a prescribed time by using separation principle. Finally, a numerical simulation is provided to verify the feasibility of the proposed theoretical results by using the modified Ablowitz-Kruskal-Ladik scheme.

关键词： Numerical approximation and analysis Algebra Mathematical analysis Linear control systems control system analysis and synthesis methods Stability in control theory Distributed parameter control systems Nonlinear control systems

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A quasi-differential type event-triggered model predictive control for perturbed continuous linear systems with constraints

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IET control THEORY AND APPLICATIONS 2021年第18期15卷 2334-2343页

作者： Xu, Zhongxian He, Lile He, Ning Bai, Botao Xian Univ Architecture & Technol Sch Mech & Elect Engn Xian 710055 Peoples R China

A quasi-differential type event-triggered model predictive control (ET-MPC) framework for continuous-time linear systems with additional disturbances is constructed. Different from the existing ET-MPC, the triggering condition of the proposed method is focused on the differences of the errors between the actual states and the best prediction sequence at two consecutive sampling moments. Its advantage is that the dynamic characteristics of state changes can be better considered, which will achieve a more effective balance between communication load and system control performance. Then, to deal with persistent disturbances, a time-varying tightening robustness state constraint is utilized in this scheme, instead of conventional state constraints. Finally, the new ET-MPC algorithm is designed based on the dual-mode control framework, and its feasibility, the system closed-loop stability, as well as avoidance of Zeno behaviour are rigorously verified. Simulations and comparisons are provided to demonstrate the algorithm effectiveness.

关键词： control system analysis and synthesis methods Stability in control theory Optimal control Discrete control systems Linear control systems

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