We propose a new algorithm for feedback nonlinear synthesis. The algorithm computes suboptimal solutions, with bounds on suboptimality, to the Hamilton-Jacobi-Bellman equation. For systems that are modeled with polyno...
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We propose a new algorithm for feedback nonlinear synthesis. The algorithm computes suboptimal solutions, with bounds on suboptimality, to the Hamilton-Jacobi-Bellman equation. For systems that are modeled with polynomials the computations can be done efficiently via semidefinite programming. To illustrate the strength of the proposed method, we compute smooth stabilizing feedback controllers for several problems.
The paper proposes the design of an integrated vehicle control system for in-wheel electric vehicle, which is able to track road geometry with a predefined reference velocity. In the design the lateral and longitudina...
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ISBN:
(纸本)9789633131862
The paper proposes the design of an integrated vehicle control system for in-wheel electric vehicle, which is able to track road geometry with a predefined reference velocity. In the design the lateral and longitudinal dynamics are combined using the in-wheel motors and the steering system. The design methodology of the hierarchical control is proposed. The required control signals are calculated by applying high-level controllers, which are designed using a robust control method. For the control design the model is augmented with weighting functions specified by the performance demands. The actuators generating the necessary control signals in order to achieve the requirements for which low-level tracking controllers are designed.
This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation,...
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This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation, and external disturbance. To avoid the analytic calculation in the backstepping process, a highgain auxiliary system is constructed to compensate for the effect of command filter error. The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors. A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous *** overcome the input saturation nonlinearity, a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law. Stringent analysis guarantees the stability of closed-loop system. Finally, simulated examples confirm the effectiveness of the suggested method.
With the wide application of manipulator, the working environment of the manipulator has become more and more complex. The performance of the manipulator is also constrained by parameter uncertainty, actuator fault, a...
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With the rapid development of multi-electric and all-electric aircraft, the role of power supply systems in aircraft is becoming increasingly prominent. Traditional fault diagnosis methods have problems such as a sing...
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A digital elevation model (DEM) is convenient for representing the continuously varying topographic surface of the Earth, and it is a common data source for terrain analysis and other spatial applications. In the mean...
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A digital elevation model (DEM) is convenient for representing the continuously varying topographic surface of the Earth, and it is a common data source for terrain analysis and other spatial applications. In the mean time, the utility of visual digital terrain is widespread. Thus, methods used for displaying visual digital terrain based on DEM data were to be researched carefully. The paper presents a method of reading the USGS standard format DEM data and gives two ways of displaying the digital terrain's surface. Triangle mesh is a common and widely used method and has its own merits in displaying, while constructing surface using NURBS curve is another important way. Their difference and similarities was noted. Examples of these two displaying methods were also presented.
The paper discusses an approximation model developed for linear hyperbolic DPS with two state variables and two collocated boundary inputs, expressed in classical, finite-dimensional state-space framework. Using the m...
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The paper discusses an approximation model developed for linear hyperbolic DPS with two state variables and two collocated boundary inputs, expressed in classical, finite-dimensional state-space framework. Using the method of lines approach with the backward difference scheme, the original PDEs are transformed into a set of ODEs and expressed in the form of the state-space equations with matrix-valued state, input and output operators. The eigenvalues and the steady-state solutions of the approximation model are analyzed. The considerations are illustrated with a parallel-flow double-pipe heat exchanger. Steady-state and frequency-domain responses obtained from its original PDE model are compared with those calculated from its ODE approximations of different orders.
Different ues of expert systems in process control are discussed. The paper concentrates on expert systems for closed single loop control. Motivation for this is given and a prototype experiment is described. The expe...
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Different ues of expert systems in process control are discussed. The paper concentrates on expert systems for closed single loop control. Motivation for this is given and a prototype experiment is described. The experiment is evaluated and an expert control architecture is proposed. The system can be compared with a real-time operating system. An implementation based on YAPS and object-oriented programming is described.
The particle swarm optimization (PSO) has exhibited good performance on optimization. However, the parameters, which greatly influence the algorithm stability and performance, are selected depending on experience of d...
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ISBN:
(纸本)0780382730
The particle swarm optimization (PSO) has exhibited good performance on optimization. However, the parameters, which greatly influence the algorithm stability and performance, are selected depending on experience of designer. The selection of parameters needs to consider both the convergence and avoiding premature convergence. Adaptive PSO (APSO) was presented, based on the stability criterion of the PSO as a time-varying discrete system. Simulation results of some well-known problems show that APSO not only ensure the stability of algorithm, but also avoid premature convergence effectively and clearly outperform the standard PSO.
In this paper an approach to continuous-time nonlinear block-oriented dynamic system identification containing unknown time delay is presented. In the presented approach the excitation being a step or step-like signal...
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In this paper an approach to continuous-time nonlinear block-oriented dynamic system identification containing unknown time delay is presented. In the presented approach the excitation being a step or step-like signal is generated from D/A converter equipped with zero-order hold filter. Data used for model identification are sampled step or step-like responses. Parameters of the corresponding models are obtained by an optimisation algorithm utilizing ideas of randomized search. The presented discussion is illustrated by simulation experiments devoted to model identification of Wiener, Hammerstein, Hammerstein-Wiener and Wiener-Hammerstein systems.
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