Along with the emergence of real-time multi-media,interactive service,real-time voice and other services calling for high quality of service,there should be a good network to support those services.Most present route ...Along with the emergence of real-time multi-media,interactive service,real-time voice and other services calling for high quality of service,there should be a good network to support those services.Most present route algo- rithms with computational complexity hardly consider the restriction of node energy,so it degrades the whole capabil- ity of network.Bandwidth guarantee is one of the most crucial factors in real-time application,and this paper brings forward a distributed on-demand QoS routing protocol based on energy and bandwidth requirement.This QoS routing protocol makes use of bandwidth calculation algorithm and analyzes its route mechanism.The simulation results veri- fy its validity.The QoS routing protocol improves the packet delivery fraction and average end-to-end delay,prolongs the network lifetime,enhances the network performance and satisfies the route requirement for ad hoc networks.展开更多
In a system based on the phase lock loop（PLL）, a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called n...In a system based on the phase lock loop（PLL）, a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called no phase slipping adaptive bandwidth（NPS-AB） is proposed, which can adjust the loop bandwidth adaptively for different working conditions. As a result, both the tracking precision and the dynamic performance can be achieved concurrently. NPS-AB has two features to keep the loop stable： one is the capability of quick response to dynamics; the other is a series of additional constraints when the bandwidth is switched. Compared with other methods, there is no phase slipping during the adjustment process for NPS-AB. The phase integer ambiguity can be avoided and the phase value is kept valid. It is meaningful for carrier ranging systems. Simulation results show that NPS-AB can deal with sudden dynamics and keep the pseudo-range value stable in the entire dynamic process.展开更多
As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of c...As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of closed-loop supply chain was selected as fitness function, and a unique and tidy coding mode was adopted in the proposed algorithm. Then, some mutation and crossover operators were introduced to achieve discrete optimization of RCSCN structure. The simulation results show that the proposed algorithm can gain global optimal solution with good convergent performance and rapidity. The computing speed is only 22.16 s, which is shorter than those of the other optimization algorithms.展开更多
Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the m...Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the machining accuracy is usually improved by increasing the number of tool paths with more time cost.Differently,this work proposes a generated method to improve the efficiency by dressing the worm surface with only one path,and a closed-loop manufacturing process is applied to ensure the machining accuracy.According to an advanced geometric analysis,the worm surface is practically approximated as a swept surface generated by a planar curve.Meanwhile,this curve is applied as the profile of a dressing wheel,which is used to dress the worm surface.The practical machining is carried out in a CNC machine tool,which was originally used to grind helical gears.Finally,a closed-loop manufacturing process including machining,measurement,and modification is proposed to compensate the machining errors.The proposed method is validated with simulations and practical experiments.展开更多
A multicast routing algorithm of multiple QoS constraints based on widest-bandwidth （MRQW） which takes available bandwidth as the prime metric, considering the constraints of the surplus energy of the node, delay an...A multicast routing algorithm of multiple QoS constraints based on widest-bandwidth （MRQW） which takes available bandwidth as the prime metric, considering the constraints of the surplus energy of the node, delay and delay jitter, is presented. The process of routing based on MRQW is provided for as well. Correctness proof and the complexity analysis of the MRQW are also given in the paper. Simulation results show that the MRQW has a good performance in creating multicast trees. It not only satisfys multiple QoS constraints but also makes multicast links have larger available bandwidth展开更多
To improve and optimize the bandwidth utilization for multi-service packet transporting system, a kind of Dynamic Full Bandwidth Utilized （DFBU） allocation algorithm allowing a single link to use far beyond its fair...To improve and optimize the bandwidth utilization for multi-service packet transporting system, a kind of Dynamic Full Bandwidth Utilized （DFBU） allocation algorithm allowing a single link to use far beyond its fair share bandwidth is presented. Three important parameters as the bound on max and minimum bandwidth, the maximum packet delay and the minimum bandwidth utilization are discussed and analyzed. Results of experiments show that the DFBU-algorithm is capable of making a single link in the system use all the spare bandwidth （up to full-bandwidth） while the performance of fairness and QoS requirement is still guaranteed.展开更多
The admission control issue in the design of a centralized bandwidth broker model for dynamic control and management of QoS provisioning is studied. A two-phase differentiated flow treatment based dynamic admission co...The admission control issue in the design of a centralized bandwidth broker model for dynamic control and management of QoS provisioning is studied. A two-phase differentiated flow treatment based dynamic admission control scheme under the centralized bandwidth broker model is proposed. In the proposed scheme, the flow requests are classified into two classes and get differentiated treatment according to their QoS demands. We demonstrate that this admission control scheme can not only improve the resource utilization but also guarantee the flows＇ QoS. Furthermore, the admission control is divided into two phases： edge admission control and interior admission control. During the interior phase, the PoQ scheme is adopted, which enhances the call processing capability of the bandwidth broker. The simulation results show that the proposed scheme can result in lower flow blocking probability and higher resource utilization. And it also reduces the number of QoS state accesses/updates, thereby increasing the overall call processing capability of the bandwidth broker.展开更多
This paper proposes an efficient scheme to reduce the pre-correlation bandwidth effect in the global navigation satellite system(GNSS)receiver filtering process.It is mainly based on the application of a spectral tran...This paper proposes an efficient scheme to reduce the pre-correlation bandwidth effect in the global navigation satellite system(GNSS)receiver filtering process.It is mainly based on the application of a spectral transformation to the satellite-emitted signal that effectively reduces its band.At the receiver's end,this operation causes the spreading of noise over a much wider band than that used by the radio frequency stage.Consequently,the resulting auto-correlation function in the acquisition process acquires properties that enhance considerably the performance of the receiver in the presence of the multipath and noise disturbing phenomena.The simulation results demonstrate that the proposed method is a plausible solution for both multipath and noise problems in the GNSS applications for any limited value of the pre-correlation bandwidth in the receiver filter.展开更多
A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to...A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to get the global fixed bandwidth by optimizing the asymptotic mean integrated squared error （AMISE） firstly. Then, particle-driven bandwidth selection is invoked in the KDE. To get a more effective allocation of the particles, the KDE with adap- tive bandwidth in the BAKPF is used to approximate the posterior probability density function （PDF） by moving particles toward the posterior. A closed-form expression of the true distribution is given. The simulation results show that the proposed BAKPF performs better than the standard particle filter （PF）, unscented particle filter （UPF） and the kernel particle filter （KPF） both in efficiency and estimation precision.展开更多
The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on de...The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on designing large capacitive sensitivity accelerometer and applying closed loop structure to shape total noise,but different noise sources in closed loop and their behaviors at low frequencies are seldom carefully studied,especially their behaviors with different electronic parameters.In this work,a thorough noise analysis is established focusing on the four noise sources transfer functions near 0 Hz with simplified electronic parameters in closed loop,and it is found that the total electronic noise equivalent acceleration varies differently at different frequency points,such that the noise spectrum shape at low frequencies can be altered from 1/f noise-like shape to flat spectrum shape.The bias instability changes as a consequence.With appropriate parameters settings,the 670 Hz resonant frequency accelerometer can reach resolution of 2.6 μg/(Hz)1/2 at 2 Hz and 6 μg bias instability,and 1300 Hz accelerometer can achieve 5μg/(Hz)1/2 at 2 Hz and 31 μg bias instability.Both accelerometers have flat spectrum profile from 2 Hz to 15 Hz.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
Because of no strict expression of calculating call blocking probability （CBP） in the solution procedure of virtual-path bandwidth allocation problem, the process of calculating bandwidth through CBP and traffic loa...Because of no strict expression of calculating call blocking probability （CBP） in the solution procedure of virtual-path bandwidth allocation problem, the process of calculating bandwidth through CBP and traffic load adopts the iteration algorithm in common, which is an inverse process of calculating CBP through traffic load and bandwidth. It limits computing speed by a long way because of including recursion. An approximate algorithm of bandwidth is presented. We compare the performance of this algorithm with that of another classical algorithm and conclude that the former makes a great increase in speed with little error about 2 %.展开更多
A quality of service（QoS） guaranteed cross-layer resource allocation algorithm with physical layer, medium access control（MAC） layer and call admission control（CAC） considered simultaneously is proposed for the ...A quality of service（QoS） guaranteed cross-layer resource allocation algorithm with physical layer, medium access control（MAC） layer and call admission control（CAC） considered simultaneously is proposed for the full IP orthogonal frequency division multiple access（OFDMA） communication system, which can ensure the quality of multimedia services in full IP networks.The algorithm converts the physical layer resources such as subcarriers, transmission power, and the QoS metrics into equivalent bandwidth which can be distributed by the base station in all three layers. By this means, the QoS requirements in terms of bit error rate（BER）, transmission delay and dropping probability can be guaranteed by the cross-layer optimal equivalent bandwidth allocation. The numerical results show that the proposed algorithm has higher spectrum efficiency compared to the existing systems.展开更多
In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates...In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.展开更多
To solve the flight safety problem caused by nonlinear instabilities（category II pilot induced oscillations, PIOs） of the closed-loop pilot-vehicle system with rate-limiting actuator, the antiwindup（AW） compensati...To solve the flight safety problem caused by nonlinear instabilities（category II pilot induced oscillations, PIOs） of the closed-loop pilot-vehicle system with rate-limiting actuator, the antiwindup（AW） compensation method to avoid category II PIOs is investigated. Firstly, the AW compensation method originally used for controlling input magnitude limited system is introduced, then this method is extended for controlling input rate-limiting system through a circle criterion theorem. Secondly, the establishment of the AW compensator is transformed into the solving of linear matrix inequalities. Finally, an AW compensator establishment algorithm for the closed-loop pilot-vehicle system with the rate-limiting actuator is obtained. The effectiveness of the AW compensation method to avoid category II PIOs is validated by time-domain simulations,and compared with rate-limited feedback（RLF） command rate compensation method. The results show that the AW compensation method can effectively suppress category II PIOs and maintain the nominal performance when the closed-loop pilot-vehicle system is normal. Unlike the command rate compensator which works upon system uninterruptedly, the AW compensation method affects the closed-loop pilot-vehicle system only when the rate-limiting of actuator is activated, so it is a novel PIO avoidance method.展开更多
基金the PhD Programs Foundation of Superior Colleges and Universities(20060611010)International coOperation projects in science and technology of the State Ministry of Science(2007 DFR10420)+1 种基金Science and Technology research projects of Chongqing(CSTC,2006AA7024) and (CSTC,2007AB2041)Natural Science Found of ChongQing(CSTC2007BB2194)
文摘Along with the emergence of real-time multi-media,interactive service,real-time voice and other services calling for high quality of service,there should be a good network to support those services.Most present route algo- rithms with computational complexity hardly consider the restriction of node energy,so it degrades the whole capabil- ity of network.Bandwidth guarantee is one of the most crucial factors in real-time application,and this paper brings forward a distributed on-demand QoS routing protocol based on energy and bandwidth requirement.This QoS routing protocol makes use of bandwidth calculation algorithm and analyzes its route mechanism.The simulation results veri- fy its validity.The QoS routing protocol improves the packet delivery fraction and average end-to-end delay,prolongs the network lifetime,enhances the network performance and satisfies the route requirement for ad hoc networks.
文摘In a system based on the phase lock loop（PLL）, a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called no phase slipping adaptive bandwidth（NPS-AB） is proposed, which can adjust the loop bandwidth adaptively for different working conditions. As a result, both the tracking precision and the dynamic performance can be achieved concurrently. NPS-AB has two features to keep the loop stable： one is the capability of quick response to dynamics; the other is a series of additional constraints when the bandwidth is switched. Compared with other methods, there is no phase slipping during the adjustment process for NPS-AB. The phase integer ambiguity can be avoided and the phase value is kept valid. It is meaningful for carrier ranging systems. Simulation results show that NPS-AB can deal with sudden dynamics and keep the pseudo-range value stable in the entire dynamic process.
基金Project(2011ZK2030)supported by the Soft Science Research Plan of Hunan Province,ChinaProject(2010ZDB42)supported by the Social Science Foundation of Hunan Province,China+1 种基金Projects(09A048,11B070)supported by the Science Research Foundation of Education Bureau of Hunan Province,ChinaProjects(2010GK3036,2011FJ6049)supported by the Science and Technology Plan of Hunan Province,China
文摘As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of closed-loop supply chain was selected as fitness function, and a unique and tidy coding mode was adopted in the proposed algorithm. Then, some mutation and crossover operators were introduced to achieve discrete optimization of RCSCN structure. The simulation results show that the proposed algorithm can gain global optimal solution with good convergent performance and rapidity. The computing speed is only 22.16 s, which is shorter than those of the other optimization algorithms.
基金Project(2019 YFB 2004700)supported by the National Key R&D Project of ChinaProject(HTL-O-19 K 02)supported by National Key Laboratory of Science and Technology on Helicopter Transmission,Nanjing University of Aeronautics and Astronautics,China。
文摘Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the machining accuracy is usually improved by increasing the number of tool paths with more time cost.Differently,this work proposes a generated method to improve the efficiency by dressing the worm surface with only one path,and a closed-loop manufacturing process is applied to ensure the machining accuracy.According to an advanced geometric analysis,the worm surface is practically approximated as a swept surface generated by a planar curve.Meanwhile,this curve is applied as the profile of a dressing wheel,which is used to dress the worm surface.The practical machining is carried out in a CNC machine tool,which was originally used to grind helical gears.Finally,a closed-loop manufacturing process including machining,measurement,and modification is proposed to compensate the machining errors.The proposed method is validated with simulations and practical experiments.
基金This project was supported by the National Natural Science Foundation of China (90304018)and the Natural ScienceFoundation of Hubei Province of China (2004ABA023)
文摘A multicast routing algorithm of multiple QoS constraints based on widest-bandwidth （MRQW） which takes available bandwidth as the prime metric, considering the constraints of the surplus energy of the node, delay and delay jitter, is presented. The process of routing based on MRQW is provided for as well. Correctness proof and the complexity analysis of the MRQW are also given in the paper. Simulation results show that the MRQW has a good performance in creating multicast trees. It not only satisfys multiple QoS constraints but also makes multicast links have larger available bandwidth
文摘To improve and optimize the bandwidth utilization for multi-service packet transporting system, a kind of Dynamic Full Bandwidth Utilized （DFBU） allocation algorithm allowing a single link to use far beyond its fair share bandwidth is presented. Three important parameters as the bound on max and minimum bandwidth, the maximum packet delay and the minimum bandwidth utilization are discussed and analyzed. Results of experiments show that the DFBU-algorithm is capable of making a single link in the system use all the spare bandwidth （up to full-bandwidth） while the performance of fairness and QoS requirement is still guaranteed.
文摘The admission control issue in the design of a centralized bandwidth broker model for dynamic control and management of QoS provisioning is studied. A two-phase differentiated flow treatment based dynamic admission control scheme under the centralized bandwidth broker model is proposed. In the proposed scheme, the flow requests are classified into two classes and get differentiated treatment according to their QoS demands. We demonstrate that this admission control scheme can not only improve the resource utilization but also guarantee the flows＇ QoS. Furthermore, the admission control is divided into two phases： edge admission control and interior admission control. During the interior phase, the PoQ scheme is adopted, which enhances the call processing capability of the bandwidth broker. The simulation results show that the proposed scheme can result in lower flow blocking probability and higher resource utilization. And it also reduces the number of QoS state accesses/updates, thereby increasing the overall call processing capability of the bandwidth broker.
文摘This paper proposes an efficient scheme to reduce the pre-correlation bandwidth effect in the global navigation satellite system(GNSS)receiver filtering process.It is mainly based on the application of a spectral transformation to the satellite-emitted signal that effectively reduces its band.At the receiver's end,this operation causes the spreading of noise over a much wider band than that used by the radio frequency stage.Consequently,the resulting auto-correlation function in the acquisition process acquires properties that enhance considerably the performance of the receiver in the presence of the multipath and noise disturbing phenomena.The simulation results demonstrate that the proposed method is a plausible solution for both multipath and noise problems in the GNSS applications for any limited value of the pre-correlation bandwidth in the receiver filter.
基金supported by the National Natural Science Foundation of China (60736043 60805012)the Fundamental Research Funds for the Central Universities (K50510020032)
文摘A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to get the global fixed bandwidth by optimizing the asymptotic mean integrated squared error （AMISE） firstly. Then, particle-driven bandwidth selection is invoked in the KDE. To get a more effective allocation of the particles, the KDE with adap- tive bandwidth in the BAKPF is used to approximate the posterior probability density function （PDF） by moving particles toward the posterior. A closed-form expression of the true distribution is given. The simulation results show that the proposed BAKPF performs better than the standard particle filter （PF）, unscented particle filter （UPF） and the kernel particle filter （KPF） both in efficiency and estimation precision.
基金Project(61404122)supported by the National Natural Science Foundation of China
文摘The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on designing large capacitive sensitivity accelerometer and applying closed loop structure to shape total noise,but different noise sources in closed loop and their behaviors at low frequencies are seldom carefully studied,especially their behaviors with different electronic parameters.In this work,a thorough noise analysis is established focusing on the four noise sources transfer functions near 0 Hz with simplified electronic parameters in closed loop,and it is found that the total electronic noise equivalent acceleration varies differently at different frequency points,such that the noise spectrum shape at low frequencies can be altered from 1/f noise-like shape to flat spectrum shape.The bias instability changes as a consequence.With appropriate parameters settings,the 670 Hz resonant frequency accelerometer can reach resolution of 2.6 μg/(Hz)1/2 at 2 Hz and 6 μg bias instability,and 1300 Hz accelerometer can achieve 5μg/(Hz)1/2 at 2 Hz and 31 μg bias instability.Both accelerometers have flat spectrum profile from 2 Hz to 15 Hz.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
基金This project was supported by National Natural Science Foundation of China (69972015) Guangdong Provincial NationalScience Foundation (31391) .
文摘Because of no strict expression of calculating call blocking probability （CBP） in the solution procedure of virtual-path bandwidth allocation problem, the process of calculating bandwidth through CBP and traffic load adopts the iteration algorithm in common, which is an inverse process of calculating CBP through traffic load and bandwidth. It limits computing speed by a long way because of including recursion. An approximate algorithm of bandwidth is presented. We compare the performance of this algorithm with that of another classical algorithm and conclude that the former makes a great increase in speed with little error about 2 %.
基金supported by the National Natural Science Foundation of China(61271235)the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions-Information and Communication Engineering
文摘A quality of service（QoS） guaranteed cross-layer resource allocation algorithm with physical layer, medium access control（MAC） layer and call admission control（CAC） considered simultaneously is proposed for the full IP orthogonal frequency division multiple access（OFDMA） communication system, which can ensure the quality of multimedia services in full IP networks.The algorithm converts the physical layer resources such as subcarriers, transmission power, and the QoS metrics into equivalent bandwidth which can be distributed by the base station in all three layers. By this means, the QoS requirements in terms of bit error rate（BER）, transmission delay and dropping probability can be guaranteed by the cross-layer optimal equivalent bandwidth allocation. The numerical results show that the proposed algorithm has higher spectrum efficiency compared to the existing systems.
基金supported by the National Natural Science Foundation of China(61873126)。
文摘In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.
基金supported by the National Basic Research Program(973Program)(2015CB755805)the National Natural Science Foundation of China(61374145)
文摘To solve the flight safety problem caused by nonlinear instabilities（category II pilot induced oscillations, PIOs） of the closed-loop pilot-vehicle system with rate-limiting actuator, the antiwindup（AW） compensation method to avoid category II PIOs is investigated. Firstly, the AW compensation method originally used for controlling input magnitude limited system is introduced, then this method is extended for controlling input rate-limiting system through a circle criterion theorem. Secondly, the establishment of the AW compensator is transformed into the solving of linear matrix inequalities. Finally, an AW compensator establishment algorithm for the closed-loop pilot-vehicle system with the rate-limiting actuator is obtained. The effectiveness of the AW compensation method to avoid category II PIOs is validated by time-domain simulations,and compared with rate-limited feedback（RLF） command rate compensation method. The results show that the AW compensation method can effectively suppress category II PIOs and maintain the nominal performance when the closed-loop pilot-vehicle system is normal. Unlike the command rate compensator which works upon system uninterruptedly, the AW compensation method affects the closed-loop pilot-vehicle system only when the rate-limiting of actuator is activated, so it is a novel PIO avoidance method.
