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Unit Sliding Mode Control for Disturbed Crowd Dynamics system Based on Integral Barrier Lyapunov Function

IEEE ACCESS 2020年 8卷 91257-91264页

作者： Qin, Wei Shandong Womens Univ Sch Data & Comp Sci Jinan 250300 Peoples R China

This paper presents a new tracking controller for a crowd dynamics system. The crowd dynamics are described by a continuum model in the macro-scale. An appropriate control variable is chosen to solve the problem of the multi-directionality of crowd movement. In order to stabilize the state density of the disturbed crowd dynamics system at a given reference density, a unit sliding mode controller based on the integral barrier Lyapunov function is designed, and the reaching law approach is used to avoid chattering. By ensuring the boundedness of the integral barrier Lyapunov function in the closed-loop, the global constraints of the system state variables are obtained. The design of the controller and the stability analysis of the closed-loop system are all done in the distributed parameter system. A numerical example illustrates the utility of the proposed controller.

关键词： Vehicle dynamics Lyapunov methods Mathematical model Sliding mode control Computational modeling Boundary conditions Tracking Integral barrier Lyapunov function unit sliding mode control tracking control disturbed crowd dynamics system distributed parameter system

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Synchronized formation rotation and attitude control of multiple free-flying spacecraft

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1999年第1期22卷 28-35页

作者： Wang, PKC Hadaegh, FY Lau, K Univ Calif Los Angeles Los Angeles CA 90095 USA CALTECH Jet Prop Lab Pasadena CA 91109 USA

In the observation slewing of long baseline interferometers formed by multiple free-flying spacecraft in formation, it is required to rotate the entire formation about a given axis and to synchronize individual spacecraft rotation with formation rotation. Using a particle model for spacecraft formation dynamics and a rigid-body model for spacecraft attitude dynamics, control laws are derived for this mode of operation in the absence of a gravitational field and disturbances. A simplified control law suitable for implementation is also obtained. It is shown that under mild conditions the formation alignment error decays to zero exponentially with time. Computer simulation studies are made far a free-flying spacecraft triad in a triangular formation. The results show that the developed control laws are effective in synchronized formation rotation.

关键词： Spacecraft Formation Attitude Control Autonomous Control system Spacecraft Attitude Spacecraft Control Spacecraft Guidance and Control distributed parameter system Jet Propulsion Laboratory Microelectromechanical systems Large Space Structures

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Modeling and distributed adaptive fault-tolerant vibration control for bridge beam with single-parameter adaptive neural network

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2020年第12期34卷 1831-1846页

作者： Gao, Shiqi Yang, Hongjun Liu, Jinkun Beihang Univ Sch Automat Sci & Elect Engn Xueyuan Rd 37 Beijing 100191 Peoples R China Chinese Acad Sci Inst Automat Beijing Peoples R China

Modeling and vibration control of a bridge beam system are considered in this article. The beam bridge with both ends fixed can be regarded as an Euler-Bernoulli beam, which is a typical distributed parameter system. First, the partial differential equations (PDE) model of the bridge was established according to the Hamilton principle. Then, a reasonable distributed control law was designed on the PDE model to eliminate the elastic deformation and suppress the vibration of the bridge. At the same time, uncertainties related to system status were considered during the design of the closed-loop system. In addition, the possible actuator and sensor faults in the control system were analyzed. Single-parameter adaptive neural networks were used to estimate the effects of coupling terms for uncertainties and faults. The parameter estimation adaptive law was designed to replace the adjustment of neural network weights, which simplifies the algorithm and facilitates practical engineering applications. Finally, the feasibility of the control system was verified by simulation.

关键词： actuator fault distributed control distributed parameter system sensor fault single-parameter neural network vibration control

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Decentralized Variable Structure Control of Uncertain Large-scale Time-delayed distributed parameter systems with Nonlinear Input

Decentralized Variable Structure Control of Uncertain Large-...

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2011 International Conference on Management Science and Intelligent Control(ICMSIC 2011)

作者： Huimin XIAO Institute of Information and systems Engineering Henan University of Economics and Law Zhengzhou 450002, P.R. China Lin ZHAO School of Mathematical Sciences Ocean University of China Qingdao 266071, P.R. China

In this paper, the decentralized variable structure control (DVSC) of uncertain large-scale distributed parameter systems with dead-zone nonlinearity in the input and time-varying delay in the interconnection is studied. The DVSC law for the interconnected systems is realized independently through the delay terms and drives the state trajectory of the system to the sliding manifold in finite time. A sufficient condition of asymptotic stability for the sliding motion is derived.

关键词： distributed parameter system Large-scale system Time-delay Decentralized variable structure control

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Unconstrained minimization approaches to control determination of a spreadable system

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ENGINEERING OPTIMIZATION 2002年第2期34卷 129-140页

作者： Autrique, L Leyris, JP Noumare, B CNRS UPR 8521 Grp Modelisat & Automat Proc IMP F-66860 Perpignan France

The optimization of processes described by non-linear distributed parameter systems is investigated. In general, the complexity of such a problem prevents the implementation of classical deterministic optimization methods. In fact, for global Optimization problems as well as for problems involving very large number of variables for which the reduction of the computational time is crucial, these methods can be inefficient. In this framework, several minimization algorithms (deterministic, stochastic, evolutionary) are compared. An application to optimal control determination is presented for a class of distributed parameter systems called spreadable systems.

关键词： distributed parameter system optimal control spreadable system

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Application of μ-interaction measures for decentralized temperature control of packed-bed chemical reactor

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JOURNAL OF CHEMICAL ENGINEERING OF JAPAN 2000年第1期33卷 120-127页

作者： Elisante, E Yoshida, M Matsumoto, S Tohoku Univ Dept Chem Engn Sendai Miyagi 9808579 Japan

The objectives of this study are two-fold;to apply robust control tools hitherto used mostly for lumped parameter systems (LPS) to distributed parameter systems (DPS);and to investigate robustness of decentralized distributed controllers when operated under a full MIMO plant in the presence of unmeasured disturbance. The energy balance model of the packed-bed reactor is discretized using orthogonal collocation with the heat of reaction regarded as unmeasured disturbance. The resulting MIMO state space model is used for designing a decentralized temperature controller. Employing the IMC tuning rules as baseline, a decentralized PI controller is designed using only the diagonal elements of MIMO model treating off-diagonal terms as uncertainty. The off-diagonal interactions are used to design bounds called "mu-interaction measures"' which are imposed on nominal closed-loop transfer functions. Satisfaction of these bounds guarantees that the designed decentralized controller will yield robustness over the full MIMO plant.

关键词： process control distributed parameter system robust control mu-interaction measures packed-bed reactor

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CONTINUUM MODELING OF FLEXIBLE STRUCTURES WITH APPLICATION TO VIBRATION CONTROL

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AIAA JOURNAL 1989年第9期27卷 1264-1273页

作者： BENNETT, WH KWATNY, HG DREXEL UNIV SYST ENGNPHILADELPHIAPA 19104

In this paper we consider the construction of hybrid models for flexible structures, including both the natural spatially distributed dynamics of low-mass density structures and the lumped models associated with rigid-body dynamics. For the purposes of active control of structural vibrations we argue that by using transform methods, the standard approach to transfer function (or mechanical impedance) modeling can be extended to provide a complete formulation of a hybrid model with localized control. We proceed to give a systematic procedure for obtaining the required transfer functions and Green's functions for the hybrid model dynamics consisting of one-dimensional elastic elements (such as beams, rods, and cables) together with rigid-body (lumped) models. We focus on a well-known family of models for elastic elements together with various reductions and indicate the construction of well-posed state-space models for these systems. Using the resulting state-space, we next demonstrate the construction of a complete frequency domain characterization of the elemental system response using transfer functions and Green’s functions. Hybrid constructions are discussed for various interconnections of distributed and lumped elements, and a simple illustrative example is given. We highlight the extent to which the required computations can be performed automatically on a digital computer using a computer algebra system. © 1989 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.

关键词： Flexible Structures Active Vibration Control Dirac Delta Function distributed parameter system Large Space Structures Frequency Domain Bernoulli Euler Beams Mathematical Models Vibration Suppression Lumped Element Modeling

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Time simulations of the response of maneuvering flexible aircraft

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2004年第5期27卷 814-828页

作者： Meirovitch, L Tuzcu, I Virginia Polytech Inst & State Univ Dept Engn Sci & Mech Blacksburg VA 24061 USA

This work is concerned with time simulations of the response of flying flexible aircraft to initial conditions and external excitations, such as gusts. The simulations are based on a unified formulation of the problem of dynamics and control of maneuvering flexible aircraft developed recently by the authors. The formulation represents a seamless integration of pertinent material from the areas of analytical dynamics, structural dynamics, aerodynamics, and controls. It incorporates both the aircraft rigid-body motions and elastic deformations and it includes the aerodynamic, propulsion, gravity, and control forces, all in a rigorous manner. The formulation lends itself to efficient computer processing of the aircraft response. The formulation contains improvements over the earlier formulation by the authors in the form of a reduced-order structural model and newly designed, easier-to-implement controller and state observer. The corresponding time simulations are entirely new, and no similar results have been obtained by other investigators. The developments should help with the design of the new generation of unmanned aerial vehicles (UAVs) and in particular with the design of autonomous UAVs controlled by autopilots.

关键词： Transport Aircraft Elastic Deformation Aerodynamic Force Structural Modeling Structural Dynamics Autonomous Unmanned Aerial Vehicles Finite Element Modeling Control Surfaces distributed parameter system Aircraft Structures

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Adaptive nonlinear boundary control of a flexible link robot arm

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1999年第4期15卷 779-787页

作者： de Queiroz, MS Dawson, DM Agarwal, M Zhang, F Polytech Univ Dept Mech Engn Brooklyn NY 11201 USA Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

In this paper, we consider the problem of designing a boundary controller for a flexible link robot arm with a payload mass at the link's free-end. Specifically, we utilize a nonlinear, hybrid dynamic system model (the model is hybrid in the sense that it is comprised of a distributed parameter, dynamic field equation coupled to discrete, dynamic boundary equations) to design a model-based control law which asymptotically stabilizes the link displacement while driving the actuator hub's position to a desired setpoint. We then illustrate how the control law can be redesigned as an adaptive controller which achieves the same control objective while compensating for parametric uncertainty including unknown payload mass. The control strategy is composed of a boundary control torque applied to the actuator hub and a boundary control force at the link's free-end. Experimental results are presented to illustrate the performance of the proposed control laws.

关键词： boundary control distributed parameter system flexible link robot Lyapunov analysis nonlinear control

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Experimental model determination for neurocontrol of a thermal conduction system

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JOURNAL OF THERMOPHYSICS AND HEAT TRANSFER 2003年第4期17卷 471-480页

作者： Prabhat, P Look, DC Balakrishnan, SN Univ Missouri Dept Mech & Aerosp Engn & Engn Mech Rolla MO 65409 USA

Recently a synthesis methodology for the infinite time optimal neurocontrollers for partial differential equations systems in the framework of adaptive-critic design has been developed. The adaptive-critic approach is applied to a thermal conduction system. The experimental setup representing a one-dimensional heat conduction problem developed by matching the experimental and simulation results using a tridiagonal-matrix algorithm is presented. The discrete domain forms of the state, the costate and the optimal control equations are derived using the distributed parameter model of the system. The synthesis is introduced of an adaptive-critic-based infinite time optimal neurocontroller for online temperature profile control. The representative states of the system for training the networks was generated using Fourier series-based smooth states profile algorithm. Finally, the action network is implemented for temperature profile control of the experimental setup.

关键词： Thermal Conduction system Costate Equation Thermocouples distributed parameter system Neural Networks Neumann Boundary Condition Mathematical Models DAQ Numerical Simulation Heat Generation

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