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Discrete Getz-Masden Dynamic System 2 via Taylor-Zhang Discretization Formula Solving for Time-Varying Complex Matrix Inverse

Discrete Getz-Masden Dynamic System 2 via Taylor-Zhang Discr...

引用

Chinese Automation Congress (CAC)

作者： Zhang, Yunong Wu, Guofu Yang, Xuyun Gong, Huihui Yang, Min Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Reseach Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538635247

A Getz-Masden dynamic system 2 (GMDS2) is investigated in this paper. For the purpose of solving time-varying complex matrix inverse, we propose a TZ-type (i.e., Taylor-Zhang type) discrete Getz-Masden dynamic system 2;i.e., the proposed TZ-type discrete Getz-Masden dynamic system 2 is discretized by Taylor-Zhang discretization formula. The results of numerical experiments not only show the efficacy of the proposed TZ-type discrete GMDS2 compared with the Euler-type discrete GMDS2 and the generalized gradient-Newton model, but also verify that the error pattern of TZ-type discrete GMDS2 is cube.

关键词： GMDS2 Complex matrix inverse Taylor-Zhang discretization formula Numerical experiments Error pattern

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GD controller of Type Z0G1 and Sigmoid-Function Limited controller of Type Z0G1SFL for Linear Time-Invariant System Output-Tracking control 4

GD Controller of Type Z0G1 and Sigmoid-Function Limited Cont...

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4th International Conference on systems and Informatics (ICSAI)

作者： Zhang, Yunong Xiao, Mengling Wang, Jinjin Qiu, Binbin Ding, Yaqiong Sun Yat Sen Univ SYSU Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538611074

The gradient dynamics (GD) method of type Z0G1 in ZG (Zhang-gradient) framework is applied to the output-tracking control of linear time-invariant (LTI) system in this paper. Besides, in view of physical constraints on practical actuators as well as energy saving, a controller, termed GD-controller-of-type-Z0G1 based and sigmoid-function limited (Z0G1SFL) controller, is designed as an attempt by combining Z0G1 method and sigmoid function (SF). Simulative results validate well the efficacy and superiority of the proposed Z0G1SFL controller for solving the output-tracking control problem while limiting its input.

关键词： Gradient dynamics (GD) Linear time-invariant (LTI) system Sigmoid function (SF) Output-tracking control Energy saving

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ZG control and Simulation of Helicopter Using Taylor-Zhang Discretization Formula

ZG Control and Simulation of Helicopter Using Taylor-Zhang D...

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Chinese Automation Congress (CAC)

作者： Zhang, Yunong Yin, Ziyu Huang, Huanchang Gong, Huihui Xiao, Huinan Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538635247

In this paper, the displacement control and angle control of helicopter sling load system are investigated respectively by using zeroing-dynamics (ZD) method and zeroing gradient (ZG) method, through which we yield corresponding ZD controller and ZG controller. More importantly, the recently new formula termed Taylor-Zhang discretization (TZD) formula is derived and applied to the discrete control and simulation of the helicopter sling load system. Corresponding numerical results evince that the TZD formula has high efficacy in discretizing ZD and ZG controllers of the helicopter system.

关键词： Helicopter sling load system Taylor-Zhang discrelizalion (TZD) formula zeroing-dynamics (ZD) method zeroing-gradient (ZG) method

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Stabilization of Time-Varying Linear System Using ZD and ZG Methods Respectively with Pseudo Division-by-Zero Phenomenon Shown

Stabilization of Time-Varying Linear System Using ZD and ZG ...

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Chinese Automation Congress (CAC)

作者： Zhang, Yunong Guo, Jinjin Qiu, Binbin Li, Jian Yang, Zhi Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538635247

In this paper, the research on the stabilization of time-varying linear (TVL) system is conducted with pseudo division-by-zero (PDBZ) phenomenon shown. We not only adopt zeroing dynamics (also called Zhang dynamics, ZD) method to design ZD stabilization controller, but also adopt zeroing-gradient (also called Zhang-gradient, ZG) method to design ZG stabilization controller. Through numerical experiments, we more intuitively see that both ZD and ZG methods are able to accomplish the stabilization control of TVL system, in spite of the PDBZ phenomenon existing. In addition, the related explanation is given to illustrate the difference between ZD and ZG methods in dealing with the PDBZ problem.

关键词： Stabilization Time-varying linear (TVL) system Pseudo division-by-zero (PDBZ) phenomenon Zeroing dynamics (ZD) method Zeroing-gradient (ZG) method

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Taylor-Zhang Discretization Formula Extended to Time-Varying Four Fundamental Operations with Numerical Experiments 43

Taylor-Zhang Discretization Formula Extended to Time-Varying...

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43rd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Zhang, Yunong Gong, Huihui Li, Jian Qiu, Binbin Huang, Huanchang Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Shunde 528300 Peoples R China SYSU Key Lab Machine Intelligence & Adv Comp Minist Educ Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781538611272

Discrete time-varying problems are frequently encountered in mathematics and engineering fields, such as numerical analysis, signal processing and computer computing. However, conventional algorithms mainly solve time-invariant problems. Employed for discrete time-varying problems solving, conventional algorithms may generate quite large and unacceptable lagging errors. In this paper, discrete time-varying four fundamental operations (DTVFFOs) are studied. In order to eliminate the lagging errors, based on the zeroing dynamics (ZD) and Taylor-Zhang discretization formula, discrete computing models, which are termed T-Z-K and T-Z-U models, are proposed and investigated. Note that the aforementioned models have an error pattern of O(g(3)), where g denotes the sampling gap. For comparison, Euler-type discrete models and Newton iteration (NI) models are also presented. Eventually, illustrative numerical experiments are displayed to testify the great performances of the proposed Taylor-Zhang discrete ZD models.

关键词： Taylor-Zhang discretization formula Discrete timevarying four fundamental operations (DTVFFOs) Zeroing dynamics (ZD) Models Numerical experiments

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New Formula ZD4IgS_Q Applied to Solving Future Nonlinear systems of Equations with Abundant Numerical Experiment Verification 17

New Formula ZD4I<i>g</i>S_Q Applied to Solving Future Nonlin...

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17th International Conference on control, Automation and systems (ICCAS)

作者： Zhang, Yunong Guo, Jinjin Qiu, Binbin Shi, Yang Yang, Zhi Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9788993215144

In this paper, a new formula called Zhang discretization 4-instant g-square with subtype Q (i.e., ZD4IgS_Q) is proposed, which is used for discretizing continuous-time zeroing neurodynamics (CTZN) model. Besides, in order to solve future nonlinear systems of equations (FNSoE), also termed discrete time-varying nonlinear systems of equations, a ZD4IgS_Q-type discrete-time zeroing neurodynamics (DTZN) model with O(g(3)) steady-state residual error pattern is acquired by adopting the formula ZD4IgS_Q. For comparison purposes, an Euler-type DTZN model with O(g(2)) steady-state residual error pattern is also presented. Abundant numerical experimental results show that, compared with Euler-type DTZN model, the ZD4IgS_Q-type DTZN model has better computational performance in terms of solving FNSoE.

关键词： Zhang discretization formula Continuous-time zeroing neurodynamics (CTZN) model Future nonlinear system of equations (FNSoE) Discrete-time models

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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Stabilization of Three Time-Varying Linear systems Using ZG Method with Pseudo Division-by-Zero Phenomena Displayed 4

Stabilization of Three Time-Varying Linear Systems Using ZG ...

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4th International Conference on systems and Informatics (ICSAI)

作者： Zhang, Yunong Guo, Jinjin Qiu, Binbin Li, Jian Yang, Zhi Sun Yat Sen Univ SYSU Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538611074

In this paper, we research the stabilization of three time-varying linear (TVL) systems with pseudo division-by-zero (PDBZ) phenomena displayed. Thereinto, Zhang-gradient (also known as zeroing-gradient, ZG) method consisting of Zhang neurodynamics (ZN) and gradient neurodynamics (GN) is applied to designing three ZG stabilization controllers. Through correlative numerical experiments, we more intuitively see that the ZG method is capable of realizing the stabilization control of three TVL systems. In addition, the ZG method is also able to solve the PDBZ (pseudo division-by-zero) problems. Moreover, we discuss the effects of design parameters as well as random initial values on three TVL systems, respectively.

关键词： Stabilization Time-varying linear (TVL) systems Pseudo division-by-zero (PDBZ) phenomena Zhang-gradient (ZG) method

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Acceleration-Level Fault-Tolerant Scheme for Redundant Manipulator Motion Planning and control: Theoretics 43

Acceleration-Level Fault-Tolerant Scheme for Redundant Manip...

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43rd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Zhan, Yunong Yin, Ziyu Huang, Huanchang He, Liangyu Jin, Long Sun Yat Sen Univ Sch Informat Sci & Technol Guangzhou 510006 Guangdong Peoples R China SYSU CMU Shunde Int Joint Res Inst Foshan 528300 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538611272

In this paper, to achieve the fault-tolerant capability for redundant manipulators, a dimension-reduction method is presented and investigated at the joint-acceleration level. By incorporating such a dimension-reduction method and the limits of joint angle, joint velocity as well as joint acceleration (i.e., the physical constraints on joints), an acceleration fault-tolerant scheme for redundant manipulator motion planning and control (or say, motion-planning-and-control, MPaC) is thus proposed and investigated. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the online solution of the proposed scheme, the PLPE (piecewise-linear projection equation) oriented numerical algorithm is adopted to obtain the final QP solver. The derived QP resulting from the proposed scheme combines the abilities of fault tolerance, joints limits avoidance and repetitive motion, which can achieve the repetitive motion before and after the fault tolerance.

关键词： Fault tolerance joint-acceleration level motion planning and control quadratic program (QP) redundant manipulator system

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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