Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators ...Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.展开更多
The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communica...The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.展开更多
We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hype...We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hyperchaos. Then, we use three suchlike hyperchaotic systems with different feedback gain matrices to design a pseudo-random sequence generator (PRSG). Through a threshold function, three sub-sequences generated from the output of piecewise linear functions are changed into 0-1 sequences. Then, followed by XOR operation, an unpredictable pseudo-random sequence (PRS) is ultimately obtained. The analysis and simulation results indicate that the PRS, generated with hyperchaotic systems, has desirable statistical features.展开更多
基金Sponsored by the Doctoral Fund of Ministry of Education of China(20070288022)the Natural Science Foundation of Jiangsu Province of China(BK2008404)the Young Teacher Academic Foundation of Nanjing University of Technology(39710013)
文摘Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.
基金Projects(51309067,51679057,51609048)supported by the National Natural Science Foundation of ChinaProject(JC2016007)supported by the Outstanding Youth Science Foundation of Heilongjiang Province,ChinaProject(HEUCFX041401)supported by the Fundamental Research Funds for the Central Universities,China
文摘The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.
基金This project was supported by the National Natural Science Foundation of China (69874025).
文摘We first design a discrete hyperchaotic system via piece-wise linear state feedback. The states of the closed loop system are locally expanding in two directions but absolutely bounded on the whole, which implies hyperchaos. Then, we use three suchlike hyperchaotic systems with different feedback gain matrices to design a pseudo-random sequence generator (PRSG). Through a threshold function, three sub-sequences generated from the output of piecewise linear functions are changed into 0-1 sequences. Then, followed by XOR operation, an unpredictable pseudo-random sequence (PRS) is ultimately obtained. The analysis and simulation results indicate that the PRS, generated with hyperchaotic systems, has desirable statistical features.
