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H∞ sliding mode observer design for a class of nonlinear discrete time-delay systems: A delay-fractioning approach

International Journal of Robust and Nonlinear control 2012年第16期22卷 1806-1826页

作者： Hu, Jun Wang, Zidong Niu, Yugang Stergioulas, Lampros K. Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Department of Information Systems and Computing Brunel University Middlesex Uxbridge UB8 3PH United Kingdom School of Information Science and Engineering East China University of Science and Technology Shanghai 200237 China

In this paper, the H∞ sliding mode observer (SMO) design problem is investigated for a class of nonlinear discrete time-delay systems. The nonlinear descriptions quantify the maximum possible derivations from a linear model, and the system states are allowed to be immeasurable. Attention is focused on the design of a discrete-time SMO such that the asymptotic stability as well as the H∞ performance requirement of the error dynamics can be guaranteed in the presence of nonlinearities, time delay and external disturbances. Firstly, a discrete-time discontinuous switched term is proposed to make sure that the reaching condition holds. Then, by constructing a new Lyapunov-Krasovskii functional based on the idea of 'delay fractioning' and by introducing some appropriate free-weighting matrices, a sufficient condition is established to guarantee the desired performance of the error dynamics in the specified sliding mode surface by solving a minimization problem. Finally, an illustrative example is given to show the effectiveness of the designed SMO design scheme. Copyright © 2011 John Wiley & Sons, Ltd. Copyright © 2011 John Wiley & Sons, Ltd.

关键词： Time delay

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Gain-Scheduled H-infinity Observer Design for Nonlinear Stochastic Systems with Time-Delay and Actuator Saturation

Gain-Scheduled H-infinity Observer Design for Nonlinear Stoc...

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American control Conference

作者： Yanyan Yin Peng Shi Fei Liu Hamid Reza Karimi Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi Jiangsu 214122 P. R. China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Engineering Faculty of Engineering and Science University of Agder N-4898 Grimstad Norway

ISBN: (纸本)9781457710957

In this paper, we propose a method for designing continuous gain-scheduled robust H_∞ observer on a class of extended stochastic nonlinear systems subject to time delay and actuator saturation. Initially, gradient linearization procedure is applied to describe such extended nonlinear systems into several model-based linear systems. Next, a robust linear H_∞ observer is designed to such linear stochastic models. Subsequently, a convex hull set is investigated and sufficient condition is derived in terms of feedback observer to determine whether a given initial condition belongs to an ellipsoid invariant set. Finally, continuous gain-scheduled approach is employed to design continuous nonlinear observers on the entire extended nonlinear jump system. A simulation example is given to illustrate the effectiveness of developed techniques.

关键词： Nonlinear stochastic system time delay Observers actuators system clock INITIAL CONDITIONS Nonlinear systems

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Modeling facility protection for numerical vulnerability assessment

Modeling facility protection for numerical vulnerability ass...

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作者： Čakija, Dejan Ban, Željko Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532330670

Numerical vulnerability assessment provides calculations of possible facility attacking paths of the adversary. Path analysis is used to recommend facility modification or to add security elements to the most vulnerable path in order to reduce the vulnerability of the protected facility. For the implementation of the numerical vulnerability assessment it is necessary to develop a mathematical model of the protected facility. This paper presents an object based modeling approach that enables configuring the protected facility, placing the sensors, setting the blocking elements to delay the intruder, the use of burglary tools, modeling the security personnel activity, etc. © 2011 MIPRO.

关键词： Regression analysis

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Artificial neural network based prediction of optimal pseudo-damping and meta-damping in oscillatory fractional order dynamical systems

Artificial neural network based prediction of optimal pseudo...

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International Conference on Advances in engineering, Science and Management (ICAESM)

作者： Saptarshi Das Indranil Pan Khrist Sur Shantanu Das Department of Power Engineering Jadavpur University Kolkata India MERG Energy Environment Modelling and Minerals (E2M2) Research Section Department of Earth Science Imperial College London London UK Center for Soft Computing Research Indian Statistical Institute Kolkata India Reactor Control Division Bhabha Atomic Research Centre Mumbai India

This paper investigates typical behaviors like damped oscillations in fractional order (FO) dynamical systems. Such response occurs due to the presence of, what is conceived as, pseudo-damping and meta-damping in some special class of FO systems. Here, approximation of such damped oscillation in FO systems with the conventional notion of integer order damping and time constant has been carried out using Genetic Algorithm (GA). Next, a multilayer feed-forward Artificial Neural Network (ANN) has been trained using the GA based results to predict the optimal pseudo and meta-damping from knowledge of the maximum order or number of terms in the FO dynamical system.

关键词： Genetic algorithms Computer languages Damping

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Identification of a discrete-time piecewise affine model of a pitch-controlled wind turbine

Identification of a discrete-time piecewise affine model of ...

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作者： Vašak, Mario Hure, Nikola Perić, Nedjeljko Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 10000 Zagreb Croatia

ISBN: (纸本)9789532330670

In this work a dynamic discrete-time piecewise affine model of a pitch-controlled wind turbine is identified in the vicinity of the optimal wind turbine static characteristics. The aerodynamic rotor torque and thrust force of a 1 MW wind turbine are identified as piecewise affine static functions of wind speed, rotor speed and pitch angle using the clustering-based technique. These static functions are post-processed to rule out irregularities induced by the identification procedure and are then incorporated in a dynamic model of the wind turbine. The resulting model, that consists of 29 affine dynamics, is verified against the starting nonlinear model of the wind turbine and very good agreement with that model is obtained. The identified discrete-time piecewise affine model will be used in synthesis of optimal control laws for improving power production and reducing fatigue loads of the wind turbine. © 2011 MIPRO.

关键词： Aerodynamics

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Meteorological and weather forecast data-based prediction of electrical power delivery of a photovoltaic panel in a stochastic framework

Meteorological and weather forecast data-based prediction of...

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作者： Vašak, Mario Gulin, Marko Čeović, Josip Nikolić, Dražen Pavlović, Tomislav Perić, Nedjeljko Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 10000 Zagreb Croatia

ISBN: (纸本)9789532330670

The aim of this work is to yield a procedure for predicting expectation and covariance of power delivered by a generally tilted photovoltaic panel, based on available expectations and covariances of incident weather forecast data. The procedure consists of several steps: (i) neural-network-based identification of direct and diffuse solar irradiance models as static functions of available meteorological data;(ii) implementing the model of overall solar irradiance received on a tilted surface;(iii) determination and implementation of a thermal model of a photovoltaic panel, and (iv) implementing the unscented transformation to compute expectation and covariance of a stochastic variable after passing through a nonlinear mapping. Obtained simulation results present usefulness of the approach which is to be used within predictive control strategies of electrical storages in a microgrid with photovoltaic panels, that will optimize a combination of technical and economical criteria of the microgrid operation. © 2011 MIPRO.

关键词： Solar power generation

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Global robust output regulation of nonlinear systems subject to a nonlinear exosystem

Global robust output regulation of nonlinear systems subject...

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作者： Yang, X. Huang, J. Applied Control and Computing Laboratory Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9783902661937

The global robust output regulation problem for nonlinear plants subject to nonlinear exosystems has been a challenging problem and has not been well addressed. The main difficulty lies in finding a suitable internal model. In this paper, we first propose a new class of internal models which is guaranteed to exist under the generalized immersion condition [2]. An advantage of this internal model is that it is zero input globally asymptotically stable. This fact will facilitate the global stabilization of the augmented system associated with the given plant and the internal model. Then we will further utilize this class of internal models to solve the global robust output regulation problem for output feedback systems with a nonlinear exosystem. © 2011 IFAC.

关键词： Internal model design Nonlinear exoystem Output regulation

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Complete Coverage D * Algorithm for Path Planning of a Floor-Cleaning Mobile Robot

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IFAC Proceedings Volumes 2011年第1期44卷 5950-5955页

作者： Marija Dakulović Sanja Horvatić Ivan Petrović Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Croatia

Abstract Inspired by the path transform (PT) algorithm of Zelinsky et al. the novel algorithm of complete coverage called complete coverage D* (CCD*) algorithm is developed, based on the D* search of the two-dimensional occupancy grid map of the environment. Unlike the original PT algorithm the CCD* algorithm takes the robot's dimension into account, with emphasis on safety of motion and reductions of path length and search time. Additionally, the proposed CCD* algorithm has ability to produce new complete coverage path as the environment changes. The algorithms were tested on a Pioneer 3DX mobile robot equipped with a laser range finder.

关键词： mobile robot path planning obstacle avoidance robotic coverage

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Interacting multiple model nonlinear filter design for ultra-tightly coupled integrated navigation

Interacting multiple model nonlinear filter design for ultra...

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作者： Jwo, Dah-Jing Tseng, Chien-Hao Department of Communications Navigation and Control Engineering National Taiwan Ocean University Keelung Taiwan Department of Applied Scientific Computing Division National Center for High-Performance Computing Taichung Taiwan

ISBN: (纸本)9788995605646

In this paper, applications of the interacting multiple model (IMM) nonlinear filters to ultra-tightly coupled GPS/INS integrated navigation system. An ultra-tight GPS/INS architecture involves the integration of in-phase (I) and quadrature (Q) components from the correlator of a GPS receiver with the INS data. The error caused by linearization as in the extended Kalman filter (EKF) can be avoided using the unscented Kalman filter (UKF), which employs a set of sigma points by deterministic sampling, can efficiently deal with the nonlinear problem. The interacting multiple model (IMM) has the configuration that runs in parallel several model-matched state estimation filters, which exchange information (interact) at each sampling time. The use of IMM provides the appropriate value of process noise covariance so as to maintain good estimation accuracy and tracking capability. Performance assessment for EKF/UKF and IMMEKF/IMMUKF is carried out. The results show that the proposed IMMUKF algorithm demonstrates remarkable improvement in navigation estimation accuracy as compared to the conventional approaches. © 2011 Asian control Association.

关键词： Extended Kalman filters

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Tissue P systems with cell separation: attacking the partition problem

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Science China(Information Sciences) 2011年第2期54卷 293-304页

作者： ZHANG XingYi1, WANG Shuo2, NIU YunYun2 & PAN LinQiang2 1Key Lab of Intelligent computing and Signal Processing of Ministry of Education, School of Computer Science and Technology, Anhui University, Hefei 230039, China 2Image Processing and Intelligent control Key Laboratory of Education Ministry of China, department of control Science and engineering, Huazhong University of Science and Technology, Wuhan 430074, China 1. Key Lab of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei 230039 China2. Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Tissue P systems are distributed parallel and non-deterministic computing models in the framework of membrane computing, which are inspired by intercellular communication and cooperation between neurons. Recently, cell separation is introduced into tissue P systems, which enables systems to generate an exponential workspace in a polynomial time. In this work, the computational power of tissue P systems with cell separation is investigated. Specifically, a uniform family of tissue P systems with cell separation is constructed for effciently solving a well-known NP-complete problem, the partition problem.

关键词： membrane computing tissue P system cell separation partition problem

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