To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ...To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.展开更多
The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robu...The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality （LMI）. Finally, a numerical example is provided to demonstrate the application of the proposed method.展开更多
The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback me...The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback method, the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of H∞ disturbance attenuation not only when all actuators are operational, but also in case of some actuator failures, The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities （LMIs）. A numerical example is also given to illustrate the design procedures and their effectiveness.展开更多
The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy r...The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy robust H ∞ controller design for the system is studied.Assuming that the nonlinear uncertain functions in the model considered are gain-bounded, a sufficient condition for the robustly asymptotic stability of the closed-loop system is obtained via Lyapunov stability theory.By solving the LMI, a feedback control law which guarantees the robustly asymptotic stability of the closed-loop system is constructed and the effect of the disturbance input on the controlled output is ruduced to a prescribed level.展开更多
The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent...The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities （LMIs）. For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.展开更多
The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, ...The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust Hoo controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.展开更多
The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigat...The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigated. Based on the bounded real lemma a sufficient condition for the existence of a decentralized robust H_∞ state feedback controller was derived. This condition is expressed as the feasibility problem of a certain nonlinear matrix inequality. The controller, which makes the closed-loop large-scale system robust stable and satisfies the given H_∞ performance, is obtained by the offered homotopy iterative linear matrix inequality method. A numerical example is given to demonstrate the effectiveness of the proposed method.展开更多
This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the ass...This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the assumption of a complete access to the norm-bounds of the system uncertainties and controller gain variations, sufficient conditions on the existence of robust stochastic stability and γ-disturbance attenuation H∞ property are presented. A key feature of this scheme is that the gain matrices of controller are only based on It, the observed projection of the current regime rt.展开更多
A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation con...A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation control system can prevent the possible tumbling down of the suspended rotor and ensure a smooth and fast initial-rotation process. After the initial-rotation process, in order to maintain the rotational speed accurately constant, the RCRSC is acquired through the mixed sensitivity design approach. Simulation results show that the actuation voltage disturbances from the internal carrier waves in the gyro is reduced by more than 15.3 dB, and the speed fluctuations due to typical external vibrations ranging from 10 Hz to 200 Hz can also be restricted to 10^-3 rad/s order.展开更多
To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec...To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.展开更多
The problem of robust stabilization for nonlinear systems with partially known uncertainties is considered in this paper. The required information about uncertainties in the system is merely that the uncertainties are...The problem of robust stabilization for nonlinear systems with partially known uncertainties is considered in this paper. The required information about uncertainties in the system is merely that the uncertainties are bounded, but the upper bounds are incompletely known. This paper can be viewed as an extension of the work in reference [1]. To compensate the uncertainties, an adaptive robust controller based on Lyapunov method is proposed and the design algorithm is also suggested. Compared with some previous controllers which can only ensure ultimate uniform boundedness of the systems, the controller given in the paper can make sure that the obtained closed-loop system is asymptotically stable in the large. Simulations show that the method presented is available and effective.展开更多
This paper is concerned with the robust H ∞ control with exponent stability for a class of time delay uncertain systems. Attention is focused on the design of controllers such that the resulting closed loop system...This paper is concerned with the robust H ∞ control with exponent stability for a class of time delay uncertain systems. Attention is focused on the design of controllers such that the resulting closed loop system not only is exponentially stable but also satisfies, H ∞ disturbance attenuance via memoryless state feedback control. Sufficient conditions for feasibility are obtained in terms of LMIs. Moreover, optimization of LMI is considered such that the controller with low gain parameters is formulated.展开更多
这份报纸讨论延期依赖者的问题为有州的延期的不明确的单个系统的柔韧的 H 控制。把途径基于线性矩阵不平等(LMI ) ，我们设计一个州的反馈控制器，它保证为所有可被考虑的无常，结果的靠近环的系统是常规的，推动与 H 免费、稳定的标...这份报纸讨论延期依赖者的问题为有州的延期的不明确的单个系统的柔韧的 H 控制。把途径基于线性矩阵不平等(LMI ) ，我们设计一个州的反馈控制器，它保证为所有可被考虑的无常，结果的靠近环的系统是常规的，推动与 H 免费、稳定的标准界限限制。所有获得的结果是延期依赖者并且由不包含系统矩阵的分解的严格的 LMI 提出。数字例子证明建议方法不比存在的保守。展开更多
In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of fu...In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.展开更多
An H ∞ controller for an active suspension system is designed, which has taken the performance of ride comfort and the system robustness into account. Simulation results show that a concentrated weighting of the car...An H ∞ controller for an active suspension system is designed, which has taken the performance of ride comfort and the system robustness into account. Simulation results show that a concentrated weighting of the car body acceleration output, for the frequency where human being are most sensitive to vibration, has been executed by introducing the frequency dependent weighing function, thus the suspension acceleration frequency response characteristic can be improved. It is also pointed out that the designed controller is effective in the system robustness against the fluctuation of parameter of system.展开更多
基金supported by the National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22).
文摘To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.
基金This project was supported by the Science and Technology Found of Liaoning Province (200140104)
文摘The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality （LMI）. Finally, a numerical example is provided to demonstrate the application of the proposed method.
基金the National Natural Science Foundation of China (60574001)Program for New Century Excellent Talents in University (05-0485)Program for Innovative Research Team of Jiangnan University
文摘The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback method, the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of H∞ disturbance attenuation not only when all actuators are operational, but also in case of some actuator failures, The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities （LMIs）. A numerical example is also given to illustrate the design procedures and their effectiveness.
基金supported by the Program for Natural Science Foundation of Beijing (4062030)Young Teacher Research Foundation of North China Electric Power University
文摘The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy robust H ∞ controller design for the system is studied.Assuming that the nonlinear uncertain functions in the model considered are gain-bounded, a sufficient condition for the robustly asymptotic stability of the closed-loop system is obtained via Lyapunov stability theory.By solving the LMI, a feedback control law which guarantees the robustly asymptotic stability of the closed-loop system is constructed and the effect of the disturbance input on the controlled output is ruduced to a prescribed level.
文摘The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities （LMIs）. For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.
文摘The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust Hoo controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.
基金Project (60474003) supported by the National Natural Science Foundation of China project(20050533028) supported bythe Specialized Research Fund for the Doctoral Programof Higher Education of China
文摘The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigated. Based on the bounded real lemma a sufficient condition for the existence of a decentralized robust H_∞ state feedback controller was derived. This condition is expressed as the feasibility problem of a certain nonlinear matrix inequality. The controller, which makes the closed-loop large-scale system robust stable and satisfies the given H_∞ performance, is obtained by the offered homotopy iterative linear matrix inequality method. A numerical example is given to demonstrate the effectiveness of the proposed method.
基金Supported by National Natural Science Foundation of P. R. China (60274012)
文摘This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the assumption of a complete access to the norm-bounds of the system uncertainties and controller gain variations, sufficient conditions on the existence of robust stochastic stability and γ-disturbance attenuation H∞ property are presented. A key feature of this scheme is that the gain matrices of controller are only based on It, the observed projection of the current regime rt.
基金supported by the National High Technology Research and Development Program of China(863 Program)(2002AA745120)the National Defense Pre-research Foundation(9140A09020706JW314)the National Natural Science Foundationof China(160402003).
文摘A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation control system can prevent the possible tumbling down of the suspended rotor and ensure a smooth and fast initial-rotation process. After the initial-rotation process, in order to maintain the rotational speed accurately constant, the RCRSC is acquired through the mixed sensitivity design approach. Simulation results show that the actuation voltage disturbances from the internal carrier waves in the gyro is reduced by more than 15.3 dB, and the speed fluctuations due to typical external vibrations ranging from 10 Hz to 200 Hz can also be restricted to 10^-3 rad/s order.
基金Project (61174203) supported by the National Natural Science Foundation of China
文摘To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.
文摘The problem of robust stabilization for nonlinear systems with partially known uncertainties is considered in this paper. The required information about uncertainties in the system is merely that the uncertainties are bounded, but the upper bounds are incompletely known. This paper can be viewed as an extension of the work in reference [1]. To compensate the uncertainties, an adaptive robust controller based on Lyapunov method is proposed and the design algorithm is also suggested. Compared with some previous controllers which can only ensure ultimate uniform boundedness of the systems, the controller given in the paper can make sure that the obtained closed-loop system is asymptotically stable in the large. Simulations show that the method presented is available and effective.
文摘This paper is concerned with the robust H ∞ control with exponent stability for a class of time delay uncertain systems. Attention is focused on the design of controllers such that the resulting closed loop system not only is exponentially stable but also satisfies, H ∞ disturbance attenuance via memoryless state feedback control. Sufficient conditions for feasibility are obtained in terms of LMIs. Moreover, optimization of LMI is considered such that the controller with low gain parameters is formulated.
文摘这份报纸讨论延期依赖者的问题为有州的延期的不明确的单个系统的柔韧的 H 控制。把途径基于线性矩阵不平等(LMI ) ，我们设计一个州的反馈控制器，它保证为所有可被考虑的无常，结果的靠近环的系统是常规的，推动与 H 免费、稳定的标准界限限制。所有获得的结果是延期依赖者并且由不包含系统矩阵的分解的严格的 LMI 提出。数字例子证明建议方法不比存在的保守。
基金Supported by National Natural Science Foundation of P. R. China （60325311, 60534010, 60572070, 60521003）, the Program for Changjiang Scholars and Innovative Research Team in University （IRT0421）
文摘柔韧的 H 联网了控制方法因为有无常和时间的模糊系统推迟的 Takagi-Sugeno (T-S ) 被介绍。一个州的反馈控制器经由联网的控制系统(NCS ) 被设计理论。为有 H 性能的柔韧的稳定性的足够的状况被获得。在网络传播和包退学学生的导致网络的延期被分析。模拟结果显示出这个控制计划的有效性。
文摘In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.
基金This work was supported by the National Natural Science Foundation of China （61374054, 61203007）, and Natural Science Foundation Research Projection of Shaanxi Province （2013JQ8038）.
文摘An H ∞ controller for an active suspension system is designed, which has taken the performance of ride comfort and the system robustness into account. Simulation results show that a concentrated weighting of the car body acceleration output, for the frequency where human being are most sensitive to vibration, has been executed by introducing the frequency dependent weighing function, thus the suspension acceleration frequency response characteristic can be improved. It is also pointed out that the designed controller is effective in the system robustness against the fluctuation of parameter of system.
