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Global stabilization of periodic orbits in chaotic systems by using symbolic dynamics

IFAC Proceedings Volumes 2008年第2期41卷 15131-15136页

作者： Masayasu Suzuki Noboru Sakamoto Nagoya University Furo-Cho Chikusa-Ku Nagoya 4648603 Japan (Tel: +81-52-789-4417 Nagoya University Furo-Cho Chikusa-Ku Nagoya 4648603 Japan (Tel: +81-52-789-4499

In this report, a control method for the stabilization of periodic orbits for a class of discrete-time systems that are topologically conjugate to symbolic dynamics is proposed and applied to a population model in an ecosystem and the Smale horseshoe map. A periodic orbit is assigned as a target by giving a sequence in which symbols have periodicity. As a consequence, it is shown that any periodic orbits can be globally stabilized by using arbitrarily small control inputs. This work is the first attempt to systematically design a control system based on symbolic dynamics in the sense that one estimates the magnitude of control inputs and analyzes the Lyapunov stability.

关键词： nonlinear system control Asymptotic stabilization Tracking Application of nonlinear analysis and design

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Aircraft Automatic Maneouvering system Using Energy-based control Technique

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IFAC Proceedings Volumes 2008年第2期41卷 1200-1205页

作者： Lim Jen Nee Jones Rini Akmeliawati Chee Pin Tan Monash University Sunway Campus 46150 Bandar Sunway Selangor Malaysia Dept. Mechatronics Engineering International Islamic University Malaysia 53100 Gombak Selangor Malaysia

Automatic control systems are implemented in aircraft systems as it contributes to improve flight safety due to minimal routine pilot interaction. In classical aircraft control systems, overlaps in control systems often reduce the efficiency and effectiveness of the overall control of the aircraft. An integrated (robust) controller becomes a necessity especially where the stability and performance robustness are top priorities, process dynamics are known and variation ranges for uncertainties can be estimated. The success in implementing a nonlinear controller using the nonlinear Energy Method (NEM) in the longitudinal dynamics of the aircraft has surfaced the need to design the lateral controllers and its integration to the entire aircraft control system. In this paper, a lateral controller that provides tracking of given roll and yaw commands is proposed. The controller is based on NEM. The proposed controller is applied to an aircraft model developed by Group of Aeronautical Research and Technology in Europe (GARTEUR) called the Research Civil Aircraft Model (RCAM). The robustness and disturbance rejection of the NEM controller is tested. The closed-loop responses of the aircraft in ‘extreme’ flight conditions and the presence of parameter variations indicate that the proposed controller can guarantee stability and performance robustness of the aircraft.

关键词： nonlinear system control Regulation Tracking Disturbance Rejection

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Predator-Prey Dynamics Subject to a Threshold Policy with Hysteresis

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IFAC Proceedings Volumes 2008年第2期41卷 6263-6268页

作者： Magno Enrique Mendoza Meza Amit Bhaya Eugenius Kaszkurewicz Dept. of Electrical Engineering PEE/COPPE Federal University of Rio de Janeiro P.O. Box 68504 RJ 21945-970 BRAZIL (Tel./Fax: + 55 21 2562 8080

This paper introduces a threshold policy with hysteresis (TPH) for the control of one-predator one-prey models. The models studied are the Lotka–Volterra (LV) and Rosenzweig– MacArthur (RM) two species density-dependent predator-prey models. The proposed policy (TPH) changes the dynamics of the system in such a way that a bounded oscillation is achieved. The policy can be designed by a suitable choice of so called virtual equilibrium points in a simple and intuitive manner.

关键词： nonlinear system control

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Damping Angular Oscillations of a Pendulum under State Constraints

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IFAC Proceedings Volumes 2008年第2期41卷 7735-7742页

作者： Satoru Okanouchi Kazunobu Yoshida Itaru Matsumoto Hisashi Kawabe Oshima National College of Maritime Technology SuouOshima Japan Shimane University Matsue Japan Yonago National College of Technology Yonago Japan Hiroshima Institute of Technology Hiroshima Japan

This paper considers the problem of damping the oscillation of a plane pendulum by moving the pivot in the vertical plane and the weight along the rod of the pendulum, with limited amplitudes. Conditions for stability of the motion of the pendulum are derived using energy-based methods, and based on them energy-based controls satisfying the amplitude constraints are developed, which move the pivot and weight sinusoidally and achieve an excellent control performance by controlling the variables with constant amplitudes. When the oscillation of the pendulum becomes sufficiently small, each of the energy-based controls is taken over by a linear or saturating control, which also satisfies the amplitude constraint, to regulate the entire state of the system to the nominal point. The saturating control is used to move the pivot horizontally, which also effectively damps the residual oscillation of the pendulum. Numerical and experimental results are given to demonstrate the effectiveness of the proposed control laws.

关键词： Asymptotic stabilization nonlinear system control control of constrained systems Lyapunov methods

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State Estimation Based Model Predictive control for LHD Vehicles

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IFAC Proceedings Volumes 2008年第2期41卷 1448-1453页

作者： Felipe Núñez Sergio Navarro Alberto Aguado Aldo Cipriano Department of Electrical Engineering Pontificia Universidad Católica de Chile Santiago Chile Cybernetics Mathematics and Physics Institute La Habana Cuba

LHD (load-haul-dump) vehicles are used extensively in underground mining operations for ore transporting, primarily in tunnels where access is difficult or dangerous. To ensure underground efficient and safe LHD's performance, a robust feedback control strategy is needed. A state estimation based MPC scheme was designed for control purposes, and evaluated by simulation. The state estimator was developed by testing four approaches, in order to select the optimal one: the extended Kalman Filter, Particle Filter, Moving Horizon Estimator and a genetic algorithm based Moving Horizon Estimatior. The simulation shows that non-linear MPC performs better than linear MPC for path tracking.

关键词： Model Predictive control nonlinear system control nonlinear observer and filter design Monte Carlo methods Genetic algorithms

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Design of continuous and discontinuous output regulators for a MAGLEV system

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IFAC Proceedings Volumes 2008年第2期41卷 12129-12134页

作者： J. Rivera A. Loukianov B. Castillo-Toledo Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Av. Revolución 1500 Col. Olimpica Guadalajara Jalisco C.P. 44430 México (Tel: +52-33-3942-5920 Centro de Investigacin y de Estudios Avanzados del IPN Unidad Guadalajara. A.P. 31-438 44550 Guadalajara Jal. México

This work presents the design of continuous and discontinuous output regulators for a magnetic levitation (MAGLEV) system, for asymptotic output trajectory tracking and disturbance rejection. The nonlinear full information case is considered for both regulators. Then by numerical simulations one compares the performance of both control strategies, under criteria as transient response, steady-state accuracy, feasibility of control implementation and parameter sensitivity. The superior performance of the discontinuous regulator is then put in evidence by the obtained results.

关键词： Regulation nonlinear system control

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Detection of Critical Driving Situations using Phase Plane Method for Vehicle Lateral Dynamics control by Rear Wheel Steering

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IFAC Proceedings Volumes 2008年第2期41卷 5694-5699页

作者： Anne von Vietinghoff Haiyan Lu Uwe Kiencke Institute of Industrial Information Technology Universität Karlsruhe (TH)

A method for detecting laterally critical driving situations based on the vehicle body side slip angle (VBSSA) is investigated. Based on a nonlinear vehicle model, the vehicle stability is analyzed graphically on the β–&βdot; plane (or phase plane). The stable area can be determined depending on the wheel turn angle δ F , the velocity v and the road friction coefficient µ 0 . The detection of critical situations via the phase plane method is integrated into a gain scheduling control for the stabilization of the lateral vehicle dynamics. The control concept focuses on minimizing the VBSSA by means of rear wheel steering. Since the VBSSA cannot be measured in series production vehicles it is estimated using an Extended Kalman Filter that combines the lateral and longitudinal vehicle dynamics. The overall control concept including the EKF and the phase plane method are validated with the vehicle simulation software CarMaker®. Besides open-loop maneuvers, additional close-loop maneuvers are conducted in order to investigate the driver's influence on the controller performance and it's reaction to the controller activity.

关键词： Vehicle dynamic systems nonlinear system control Gain scheduling nonlinear observer and filter design Phase plane

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Frequency Domain Based Repetitive control of Three Phase Boost PWM Rectifier Under Distorted Supply Voltage Conditions

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IFAC Proceedings Volumes 2008年第2期41卷 3333-3338页

作者： Xinhui Wu Sanjib K. Panda Jianxin Xu

This paper presents a digital plug-in frequency domain based repetitive control scheme for minimizing the even order harmonics at the output dc link voltage and odd order harmonics in the line currents under the distorted and unbalanced supply voltage conditions. The proposed current controller consists of a conventional PI controller and a frequency domain based plug-in repetitive controller. Based on the mathematical model of the three-phase PWM boost rectifier under the generalized supply voltage conditions, the control task is divided into: (a) dc-link voltage harmonics control and (b) line side current harmonics control . The plug-in repetitive controller is designed to achieve line side currents with low THD for the three phase PWM boost rectifier. The repetitive control learning algorithm is designed in frequency domain instead of commonly used time domain and provides the flexibility of choosing different learning gains and phase delay compensations individually for each harmonic component. The experimental test results obtained from a 1.6 kVA laboratory based PWM rectifier confirm that the THD of the line side current can be reduced from 21.09% to 4.12% with the insertion of the plug-in frequency domain based repetitive controller.

关键词： nonlinear system control Power converters Modelling Repetitive controller Frequency domain design

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Direct Fuzzy Tracking control of a Class of Nonaffine Stochastic nonlinear systems with Unknown Dead-Zone Input

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IFAC Proceedings Volumes 2008年第2期41卷 12236-12241页

作者： Yu Jianjiang Zhang Kanjian Fei Shumin School of Automation Southeast University Nanjing P.R. China(Tel: 86-25-83795609 School of Automation Southeast University Nanjing P.R. China

In this paper, a direct adaptive fuzzy tracking control scheme is presented for a class of stochastic nonaffine uncertain nonlinear systems with unknown dead-zone input. Based on the first-type fuzzy logic system's online approximation capability, a direct adaptive fuzzy tracking controller is developed by using the backstepping approach. It is proved that the design scheme ensures that all the error variables are bounded in probability while the mean square tracking error becomes semiglobally uniformly ultimately bounded(SGUUB) in an arbitrarily small area around the origin. Simulation results show the effectiveness of the control scheme.

关键词： nonlinear system control Adaptive control Robust controller synthesis fuzzy control stochastic system dead-zone input

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A novel SVC allocation method for power system voltage stability enhancement by normal forms of diffeomorphism

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IEEE TRANSACTIONS ON POWER systemS 2007年第4期22卷 1819-1825页

作者： Zhang, Jing Wen, J. Y. Cheng, S. J. Ma, Jia Guizhou Univ Guiyang Peoples R China Huazhong Univ Sci & Technol Coll Elect & Elect Engn Wuhan 430074 Peoples R China

Location of the static VAR compensator (SVC) and other types of shunt compensation devices is important for the enhancement of the voltage stability for practical power systems. With the theory of the normal forms of diffeomorphism, this paper proposes a new method to solve this problem. The proposed method makes use of the nonlinear participation factors, in which the nonlinearity of power systems can be taken into consideration. As a result, the most suitable location where the SVC should be used in power system can be determined, even for the cases in which the system is characterized with strong nonlinearity. In order to show the effectiveness of the proposed method, the New England 39-bus power system with SVC is used as an example. Calculation results show that with the SVC located at the place where the proposed method determined, the voltage stability is considerably enhanced. The steady-state voltage stability index and the time domain simulation results verify the effectiveness of the proposed method.

关键词： nonlinear system control normal forms of diffeomorphism participation factor power system static VAR compensator (SVC)

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