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
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback lin...Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.展开更多
In this paper, Lyapunov function method is used to study the robust absolute stability of general interval Lur'e type nonlinear control systems. As a result, algebraically sufficient conditions with interval matri...In this paper, Lyapunov function method is used to study the robust absolute stability of general interval Lur'e type nonlinear control systems. As a result, algebraically sufficient conditions with interval matrix inequality form are obtained for the general interval Lur'e type nonlinear control systems, thus the relationship between the stability of symmetrical interval matrix and the robust absolute stability of general interval Lur'e type nonlinear control systems is established.展开更多
A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.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 relationship between the technique by state- dependent Riccati equations （SDRE） and Hamilton-Jacobi-lsaacs （HJI） equations for nonlinear H∞ control design is investigated. By establishing the Lyapunov matrix ...The relationship between the technique by state- dependent Riccati equations （SDRE） and Hamilton-Jacobi-lsaacs （HJI） equations for nonlinear H∞ control design is investigated. By establishing the Lyapunov matrix equations for partial derivates of the solution of the SDREs and introducing symmetry measure for some related matrices, a method is proposed for examining whether the SDRE method admits a global optimal control equiva- lent to that solved by the HJI equation method. Two examples with simulation are given to illustrate the method is effective.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
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
Airborne electro-optical tracking and sighting system is a three-degree-of-freedom angular position servo system which is influenced by multi-disturbance,and its control system consists of stabilizing and tracking com...Airborne electro-optical tracking and sighting system is a three-degree-of-freedom angular position servo system which is influenced by multi-disturbance,and its control system consists of stabilizing and tracking components.Stabilizing control is applied to track angular velocity order and control multi-disturbance under airborne condition,and its robustness should be very good;tracking control is applied to compensate tracking error of angular position.A mathematical model is established by taking the control of yaw loop as example.H∞ stabilizing controller is designed by taking the advantage of H∞ control robustness and combining with Kalman filter.A fuzzy control is introduced in general PID control to design a decoupled fuzzy Smith estimating PID controller for tracking control.Simulation research shows that the control effect of airborne electro-optical tracking and sighting system based on fuzzy PID and H∞ control is good,especially when the model parameters change and the multi-disturbance exists,the system capability has little fall,but this system still can effectively track a target.展开更多
针对一类具有多项式向量场的仿射型不确定非线性系统,给出一种基于多项式平方和(sum of squares,SOS)技术的鲁棒H∞状态反馈控制器设计方法.该方法的优点在于控制器的设计避开了直接求解复杂的哈密尔顿-雅可比不等式(Hamilton Jacobi in...针对一类具有多项式向量场的仿射型不确定非线性系统,给出一种基于多项式平方和(sum of squares,SOS)技术的鲁棒H∞状态反馈控制器设计方法.该方法的优点在于控制器的设计避开了直接求解复杂的哈密尔顿-雅可比不等式(Hamilton Jacobi inequality,HJI)和构造Lyapunov函数带来的困难.将鲁棒稳定性分析和控制器设计问题转化为求解以Lyapunov函数为参数的矩阵不等式,该类不等式可利用SOS技术直接求解.此外,在前文基础上研究了基于SOS规划理论与S-procedure技术的局部稳定鲁棒H∞控制器设计方法.最后以非线性质量弹簧阻尼系统作为仿真算例验证该方法的有效性.展开更多
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.
基金Project(60974047)supported by the National Natural Science Foundation of ChinaProject(S2012010008967)supported by the Natural Science Foundation of Guangdong Province,China+4 种基金Project supported by the Science Fund for Distinguished Young Scholars,ChinaProject supported by 2011 Zhujiang New Star Fund,ChinaProject(121061)supported by FOK Ying Tung Education Foundation of ChinaProject supported by the Ministry of Education for New Century Excellent Talent,ChinaProject(20124420130001)supported by the Doctoral Fund of Ministry of Education of China
文摘Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
基金This project was supported by the National Natural Science Foundation of China (No. 69934030)the Foundation for University
文摘In this paper, Lyapunov function method is used to study the robust absolute stability of general interval Lur'e type nonlinear control systems. As a result, algebraically sufficient conditions with interval matrix inequality form are obtained for the general interval Lur'e type nonlinear control systems, thus the relationship between the stability of symmetrical interval matrix and the robust absolute stability of general interval Lur'e type nonlinear control systems is established.
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
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.
基金supported by the National Natural Science Foundation of China(60874114)
文摘The relationship between the technique by state- dependent Riccati equations （SDRE） and Hamilton-Jacobi-lsaacs （HJI） equations for nonlinear H∞ control design is investigated. By establishing the Lyapunov matrix equations for partial derivates of the solution of the SDREs and introducing symmetry measure for some related matrices, a method is proposed for examining whether the SDRE method admits a global optimal control equiva- lent to that solved by the HJI equation method. Two examples with simulation are given to illustrate the method is effective.
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Sponsored by Foundation for Excellent Young Teachers in Universities of Henan Province of China(2002[121])
文摘Airborne electro-optical tracking and sighting system is a three-degree-of-freedom angular position servo system which is influenced by multi-disturbance,and its control system consists of stabilizing and tracking components.Stabilizing control is applied to track angular velocity order and control multi-disturbance under airborne condition,and its robustness should be very good;tracking control is applied to compensate tracking error of angular position.A mathematical model is established by taking the control of yaw loop as example.H∞ stabilizing controller is designed by taking the advantage of H∞ control robustness and combining with Kalman filter.A fuzzy control is introduced in general PID control to design a decoupled fuzzy Smith estimating PID controller for tracking control.Simulation research shows that the control effect of airborne electro-optical tracking and sighting system based on fuzzy PID and H∞ control is good,especially when the model parameters change and the multi-disturbance exists,the system capability has little fall,but this system still can effectively track a target.
文摘针对一类具有多项式向量场的仿射型不确定非线性系统,给出一种基于多项式平方和(sum of squares,SOS)技术的鲁棒H∞状态反馈控制器设计方法.该方法的优点在于控制器的设计避开了直接求解复杂的哈密尔顿-雅可比不等式(Hamilton Jacobi inequality,HJI)和构造Lyapunov函数带来的困难.将鲁棒稳定性分析和控制器设计问题转化为求解以Lyapunov函数为参数的矩阵不等式,该类不等式可利用SOS技术直接求解.此外,在前文基础上研究了基于SOS规划理论与S-procedure技术的局部稳定鲁棒H∞控制器设计方法.最后以非线性质量弹簧阻尼系统作为仿真算例验证该方法的有效性.
