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Distributed Robust control of Spatially Interconnected Systems with Parameter Uncertainty

Distributed Robust Control of Spatially Interconnected Syste...

引用

IEEE Conference on Decision and control

作者： Huang Huang Qinghe Wu Beijing Institute of Control Engineering and Science and Technology on Space Intelligent Control Laboratory Beijing China School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781612848006

This paper addresses the problem of robust control of spatially interconnected systems (SISs) subject to both exogenous disturbances and time-varying norm-bounded parameter uncertainties. A sufficient condition to the well-posedness, stability and attractiveness of an SIS with respect to all admissible uncertainties is presented in terms of a set of matrix inequalities. For the synthesis of distributed dynamic output feedback controllers, the nominal system is expanded in its output space so as to eliminate the uncertainties in the system matrices. In reference to the standard distributed scaled H_(infinity) control, the synthesis of distributed robust H_(infinity) controllers is proposed based on the system model in the expanded space. Numerical examples validate the effectiveness of the method.

关键词： parameter uncertainty Robust control large-scale systems Distribute synthesis Systems modelling Output feedback controllers

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Adaptive neural boundary control design for a class of nonlinear spatially distributed systems

Adaptive neural boundary control design for a class of nonli...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Yan-Chao Li Huai-Ning Wu Jun-Wei Wang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (Beijing University of Aeronautics and Astronautics) Beijing China

In this paper, an adaptive neural network (NN) control design is proposed for a class of parabolic partial differential equation (PDE) systems with boundary control actuation and unknown nonlinearities. Initially, applying the Galerkin's method, the PDE system is represented by a finite-dimensional slow subsystem and a coupled infinite-dimensional fast residual subsystem. Subsequently, a modal-feedback controller is designed according to dissipative theory and small gain theorem, such that the closed-loop PDE system is practically stable. In the proposed boundary control scheme, a radial basis function (RBF) NN is employed to approximate the unknown nonlinearities of the slow subsystem. The outcome of the control problem is formulated as a linear matrix inequality (LMI) problem. Finally, the proposed design method is applied to the control of the temperature profile of a catalytic rod to illustrate its effectiveness.

关键词： Artificial neural networks Eigenvalues and eigenfunctions control design Vectors Adaptive systems Boundary conditions Intelligent systems

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Adaptive optimal control for an air-breathing hypersonic vehicle

Adaptive optimal control for an air-breathing hypersonic veh...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Chao Guo Huai-Ning Wu Biao Luo Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University (Beijing University of Aeronautics and Astronautics) Beijing China

This paper considers the problem of optimal control for the longitudinal model of a generic air-breathing hypersonic vehicle (AHV). Existing works about the optimal control of AHV usually require the complete knowledge of the system dynamics. However, for realistic control systems, the dynamics may often be unknown or partially unknown, which makes it more difficult to handle the optimal controller design of the AHV. To overcome this difficulty, we propose an adaptive optimal controller synthesis algorithm, where the algebraic Riccati equation (ARE) is solved online without requiring the internal dynamics of AHV. control inputs for the AHV include the elevator deflection and the throttle setting. The simulation results on the AHV demonstrate the effectiveness of the proposed design method.

关键词： Optimal control Adaptive systems Aerodynamics Heuristic algorithms Vehicle dynamics Adaptation models Trajectory

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Relaxed Stabilization Conditions for Discrete-Time 2-D T-S Fuzzy Systems

Relaxed Stabilization Conditions for Discrete-Time 2-D T-S F...

引用

2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Xiaoli Li Dawei Ding Dexin Liu Xiangpeng Xie School of Automation and Electrical Engineering and the Key Laboratory of Advanced Control of Iron College of Information Science and Engineering Northeastern University Shenyang 110004 China

This paper focuses on the problem of further relaxing stabilization conditions for the Roesser type discretetime 2-D T-S fuzzy system. A novel kind of non-PDC control scheme is proposed to stabilize the closed-loop 2-D T-S fuzzy system, and then less conservative stabilization conditions are developed by using a new non-quadratic Lyapunov function for the underlying 2-D T-S fuzzy system. For one flxed degree of the homogeneous polynomially parameter-dependent matrix, the conservatism could be further reduced by exploiting the algebraic property of fuzzy membership functions and the obtained stabilization conditions may asymptotically approach to exactness in a convergent sense. Moreover, there are no slack matrix variables introduced in the control synthesis, and hence the computational burden is less than the existing ones while the same or less conservative results could be obtained. A numerical example is also provided to illustrate the effectiveness of the proposed methods.

关键词： Roesser model 2-D discrete-time systems Stabilization LMI.

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An adaptive controller for a class of high-order nonlinear systems with unknown control coefficients

An adaptive controller for a class of high-order nonlinear s...

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Chinese control Conference (CCC)

作者： Zongyao Sun Yungang Liu Zhenguo Liu Institute of Automation Qufu Normal University 273165 China School of Control Science and Engineering Shandong University Jinan 250061 China

In this paper, a valid approach is successfully addressed to design the adaptive stabilizing control law for a class of high-order nonlinear systems with unknown control coefficients and in triangular form. For such control systems, the state-feedback stabilizing control has been investigated recently under the assumption that the lower bounds of the control coefficients are precisely known. This paper removes such assumption, and gives the recursive design procedure of stabilizing control law by employing the approach of adding a power integrator together with adaptive technique to the appropriately defined unknown system parameters. The designed state-feedback adaptive control law, which vanishes at the origin, guarantees that the states of the closed-loop system are globally asymptotically stable, while all the other signals are uniformly bounded.

关键词： control design Nonlinear systems Adaptive control Tuning Backstepping

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State-feedback stabilization control design for a class of time-delay high-order nonlinear systems

State-feedback stabilization control design for a class of t...

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Chinese control Conference (CCC)

作者： Zongyao Sun Yungang Liu Institute of Automation Qufu Normal University 273165 China School of Control Science and Engineering Shandong University Jinan 250061 China

The stabilization problem is investigated for a class of time-delay high-order nonlinear systems. by the flexible way of adding a power integrator, the recursive design procedure of a continuous state-feedback controller is derived, and globally asymptotic stability of the resulting closed-loop system is proven with the aid of the delicate construction of an appropriate Lyapunov-Krasovskii functional. Finally, a simulation example is given to illustrate the correctness of the theoretical result.

关键词： Nonlinear systems Adaptive systems Sun control design Asymptotic stability Stability analysis Backstepping

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A reentry trajectory planning based on the optimization of angle of attack

A reentry trajectory planning based on the optimization of a...

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1st International Conference on Instrumentation and Measurement, Computer, Communication and control, IMCCC2011

作者： Yang, Zhuo Zhang, Qingzhen Tao, Xiaoqiang School of Automation Science and Electrical Engineering BeiHang University Beijing China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9780769545196

According to the strict aerodynamic heating environment in the reentry process, a new reentry trajectory planning method is presented. A reasonable Heat Flux Rate (HFR) curve is designed with the energy of the aircraft, and the real-time instruction of the Angle of Attack (AOA) is decoded. Then, the flight corridor is planned by the multi-constraint conditions. After that, the flight trajectory could be optimized through applying the pseudo-spectral method. At last, the simulation experiment under Matlab is carried out with an example lifting flight. The results show that the aircraft's total heat absorption (THA), which got through the new planning method, is smaller than that by the traditional method. © 2011 IEEE.

关键词： Angle of attack

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Hybrid position, posture, force and moment control with impedance characteristics for robot manipulators

Hybrid position, posture, force and moment control with impe...

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2011 IEEE International Conference on Mechatronics and automation, ICMA 2011

作者： Yao, Yu Huang, Qingjiu Peng, Yan Oiwa, Taishi Institute of Robotic Science and Engineering Nanjing University of Technology 5 Xinmofan Rd Nanjing 210009 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-I3-11 Ookayama Meguro-ku Tokyo 152-8552 Japan School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9781424481149

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator. © 2011 IEEE.

关键词： Robot applications

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A hybrid approach of virtual force and A∗ search algorithm for UAV path re-planning

A hybrid approach of virtual force and A∗ search algorithm ...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zhuoning Dong Zongji Chen Rui Zhou Rulin Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Flight Automatic Control Research Institute Xi'an China

This article is concerned with the UAV path re-planning problem to be solved by using a novel approach based on the hybrid of virtual force and A* search algorithm (HVFA). The formulation of the UAV path re-planning is presented, and the hybrid system model of virtual force (VF) is given. The scheme of path re-planning is designed and the corresponding computational complexity is analyzed quantitatively. Simulation results prove the feasibility and usefulness of using HVFA for UAV path re-planning. Performance comparisons between the HVFA method and the fuzzy virtual force (FVF) method demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.

关键词： Path planning Planning Force Real time systems Computational complexity Algorithm design and analysis Simulation

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Strength finite element analysis of 130t liquid iron tank lifting lug

Strength finite element analysis of 130t liquid iron tank li...

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International Conference on Mechanic automation and control engineering (MACE)

作者： Hongyu Liu Junqing Liu School of Mechanical Engineering and Automation Liaoning University of Science and Technology Anshan China Department of Automatic Control Shenyang Institute of Engineering Shenyang Liaoning China

As a kind of large metallurgy equipment, liquid iron tank was used more widely. This paper took 130t liquid iron tank as an example. Three dimensions solid model of liquid iron tank lifting lug was constructed by ANSYS software in this paper. Grid division, restriction, load and strength finite element analysis were also made on relevant computation model. The relevant equivalent stress distribution rule of liquid iron tank lifting lug was found. The position of maximum equivalent stress was found. Liquid iron tank lifting lug can satisfy the use demand under slow lifting up working condition was proved. This analysis provides a practical and effective research method for research the strength and reliability of liquid iron tank. It also provides a theory base for corporation to recast and design liquid iron tank.

关键词： Iron Computational modeling Finite element methods Stress Employee welfare Analytical models Solid modeling

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