To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） co...To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.展开更多
在这篇论文，一个概括加速反馈控制(声频抗流圈) 设计方法，命名声频抗流圈提高了 H ∞控制器，为两个被建议完整激活并且在激活的非线性的自治车辆系统下面。声频抗流圈基于已知的动力学作为柔韧的改进被设计到正常控制。首先，以便拒...在这篇论文，一个概括加速反馈控制(声频抗流圈) 设计方法，命名声频抗流圈提高了 H ∞控制器，为两个被建议完整激活并且在激活的非线性的自治车辆系统下面。声频抗流圈基于已知的动力学作为柔韧的改进被设计到正常控制。首先，以便拒绝不确定性和外部骚乱，线性 prefilter 在新声频抗流圈设计方法被使用在正常声频抗流圈代替高获得。然后，背走算法被用于 AFC 设计在激活的系统下面。两个的分析在有限获得 L2 稳定性显示出的频率领域和输入产量的骚乱变细新控制器设计方法是适用的。最后，模拟关于无人的模型直升飞机的追踪的控制被进行。结果与没有声频抗流圈，追踪的控制获得验证新方法的可行性的那些相比。展开更多
A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dyn...A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.展开更多
The robust stabilization of nonlinear systems with mismatched uncertainties is investigated. Based on the stability of the nominal system, a new approach to synthesizing a class of continuous state feedback controller...The robust stabilization of nonlinear systems with mismatched uncertainties is investigated. Based on the stability of the nominal system, a new approach to synthesizing a class of continuous state feedback controllers for uncertain nonlinear dynamical systems is proposed. By such feedback controllers, the exponential stability of uncertain nonlinear dynamical systems can be guaranteed. The approach can give a clear insight to system analysis. An illustrative example is given to demonstrate the utilization of the approach developed. Simulation results show that the method presented is practical and effective.展开更多
Aiming at the coupling characteristic between the two groups of electromagnets embedded in the module of the maglev train, a nonlinear decoupling controller is designed. The module is modeled as a double-electromagnet...Aiming at the coupling characteristic between the two groups of electromagnets embedded in the module of the maglev train, a nonlinear decoupling controller is designed. The module is modeled as a double-electromagnet system, and based on some reasonable assumptions its nonlinear mathematical model, a MIMO coupling system, is derived. To realize the linearization and decoupling from the input to the output, the model is linearized exactly by means of feedback linearization, and an equivalent linear decoupling model is obtained. Based on the linear model, a nonlinear suspension controller is designed using state feedback. Simulations and experiments show that the controller can effectually solve the coupling problem in double-electromagnet suspension system.展开更多
A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is p...A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.展开更多
The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear...The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.展开更多
The static output feedback H∞ control is explored for a class of nonlinear singular system with norm-bounded uncertainty. On certain suppose, the zero solution asymptotically stability is analyzed by means of Lyapuno...The static output feedback H∞ control is explored for a class of nonlinear singular system with norm-bounded uncertainty. On certain suppose, the zero solution asymptotically stability is analyzed by means of Lyapunov function and Lyapunov stability theory. Based on which, a sufficient condition is presented such that the system is zero solution asymptotically stable and has H∞ norm constraint γ. Then, the static output feedback H∞ controller is designed to guarantee the resulting closed-loop system has the same performance. Finally, an example proves the effectiveness of the conclusion.展开更多
A novel decentralized indirect adaptive output feedback fuzzy controller is developed for a class of large-scale uncertain nonlinear systems using error filtering.By the properly filtering of the observation error dyn...A novel decentralized indirect adaptive output feedback fuzzy controller is developed for a class of large-scale uncertain nonlinear systems using error filtering.By the properly filtering of the observation error dynamics,the strictly positive-real condition is guaranteed to hold such that the proposed output feedback and adaptation mechanisms are practicable in practice owing to the fact that its implementation does not require the observation error vector itself any more,which corrects the impracticable schemes in the previous literature involved.The presented control algorithm can ensure that all the signals of the closed-loop large-scale system keep uniformly ultimately bounded and that the tracking error converges to zero asymptotically.The decentralized output feedback fuzzy controller can be applied to address the longitudinal control problem of a string of vehicles within an automated highway system（AHS） and the effectiveness of the design procedure is supported by simulation results.展开更多
文摘To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.
基金Supported by National Natural Science Foundation of China(60374002,60674036)the Science and Technical Development Plan of Shandong Province (2004GG4204014)the Program for New Century Excellent Talents in University of China
文摘在这篇论文，一个概括加速反馈控制(声频抗流圈) 设计方法，命名声频抗流圈提高了 H ∞控制器，为两个被建议完整激活并且在激活的非线性的自治车辆系统下面。声频抗流圈基于已知的动力学作为柔韧的改进被设计到正常控制。首先，以便拒绝不确定性和外部骚乱，线性 prefilter 在新声频抗流圈设计方法被使用在正常声频抗流圈代替高获得。然后，背走算法被用于 AFC 设计在激活的系统下面。两个的分析在有限获得 L2 稳定性显示出的频率领域和输入产量的骚乱变细新控制器设计方法是适用的。最后，模拟关于无人的模型直升飞机的追踪的控制被进行。结果与没有声频抗流圈，追踪的控制获得验证新方法的可行性的那些相比。
基金supported by the National Natural Science Foundation of China (60428303)
文摘A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
基金This project was supported by the National Natural Science Foundation of China (No. 69674109).
文摘The robust stabilization of nonlinear systems with mismatched uncertainties is investigated. Based on the stability of the nominal system, a new approach to synthesizing a class of continuous state feedback controllers for uncertain nonlinear dynamical systems is proposed. By such feedback controllers, the exponential stability of uncertain nonlinear dynamical systems can be guaranteed. The approach can give a clear insight to system analysis. An illustrative example is given to demonstrate the utilization of the approach developed. Simulation results show that the method presented is practical and effective.
基金Supported by National Natural Science Foundation of China （60674036）, the Science and Technical Development Plan of Shandong Province （2004GG4204014）, the Program for New Century Excellent Talents in University of China （NCET-07-0513）, the Key Science and Technique Foundation of Ministry of Education of China （108079）, and the Excellent Young and Middle-aged Scientist Award of Shandong Province of China （2007BS01010）
基金Supported by National Natural Science Foundation of P. R. China (60404003)the Natural Science Foundation of Hunan Province (03JJY3108)Fok Ying-Tong Education Foundation (94028)
文摘Aiming at the coupling characteristic between the two groups of electromagnets embedded in the module of the maglev train, a nonlinear decoupling controller is designed. The module is modeled as a double-electromagnet system, and based on some reasonable assumptions its nonlinear mathematical model, a MIMO coupling system, is derived. To realize the linearization and decoupling from the input to the output, the model is linearized exactly by means of feedback linearization, and an equivalent linear decoupling model is obtained. Based on the linear model, a nonlinear suspension controller is designed using state feedback. Simulations and experiments show that the controller can effectually solve the coupling problem in double-electromagnet suspension system.
基金Supported by National Natural Science Foundation of P.R.China(60474038)Science Research Foundation of Beijing Jiaotong University(2005SM005)Specialized Research Fund for the Doctoral Program of Higher Education(20060004002)
基金Supported by National Natural Science Foundation of China （60774010）, Program for New Century Excellent Talents in University of China （NCET-05-0607）, Program for Summit of Six Types of Talents of Jiangsu Province （07-A-020）, and Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province （07KJB510114）
文摘适应州反馈的稳定为在的高顺序的随机的非线性的系统的一个类被调查函数 fi 的上面的界限(?? 铄吗？？
基金supported by the National Natural Science Foundation of China(11502288)
文摘A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.
基金Supported by National Natural Science Foundations of China （61325016, 61273084, 61233014）, Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China （JQ200919）, and the Independent Innovation Foundation of Shan- dong University （2012JC014）
基金Supported by Program for New Century Excellent Talents in University of China （NCET-05-0607）, National Natural Science Foundation of China （60774010）, Program for Summit of Six Types of Talents of Jiangsu Province （07-A-020）, Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province （07KJB510114）
基金This project was supported by the National Natural Science Foundation of China(69974017 60274020 60128303)
文摘The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.
基金Supported by National Natural Science Foundation of China（60774010 10971256） Natural Science Foundation of Jiangsu Province（BK2009083）+1 种基金 Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province（07KJB510114） Shandong Provincial Natural Science Foundation of China（ZR2009GM008 ZR2009AL014）
基金supported by the National Natural Science Foundation of China (60574011)
文摘The static output feedback H∞ control is explored for a class of nonlinear singular system with norm-bounded uncertainty. On certain suppose, the zero solution asymptotically stability is analyzed by means of Lyapunov function and Lyapunov stability theory. Based on which, a sufficient condition is presented such that the system is zero solution asymptotically stable and has H∞ norm constraint γ. Then, the static output feedback H∞ controller is designed to guarantee the resulting closed-loop system has the same performance. Finally, an example proves the effectiveness of the conclusion.
基金supported by the National Natural Science Foundation of China (6096400460864004+2 种基金50808025)the Fok Ying Tung Education Foundation (122013)the Scientific Research Fund of Hunan Provincial Education Department (08A003)
文摘A novel decentralized indirect adaptive output feedback fuzzy controller is developed for a class of large-scale uncertain nonlinear systems using error filtering.By the properly filtering of the observation error dynamics,the strictly positive-real condition is guaranteed to hold such that the proposed output feedback and adaptation mechanisms are practicable in practice owing to the fact that its implementation does not require the observation error vector itself any more,which corrects the impracticable schemes in the previous literature involved.The presented control algorithm can ensure that all the signals of the closed-loop large-scale system keep uniformly ultimately bounded and that the tracking error converges to zero asymptotically.The decentralized output feedback fuzzy controller can be applied to address the longitudinal control problem of a string of vehicles within an automated highway system（AHS） and the effectiveness of the design procedure is supported by simulation results.
