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
In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factorizing the characteristic equation of the multi...In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factorizing the characteristic equation of the multi-agent system into a set of reduced-order factors,the problem is transformed to the stability analysis of resulting factors with reduction in complexity.Furthermore,stable ranges of the control gain,such that the consensus of multi-agent systems could be reached when delays vanish,are analyzed.With control gain confined to stable ranges,and applying the advanced clustering with frequency sweeping method to investigate the stability of factors,the delay-independent and delay-dependent consensus are discussed.An illustrative example is offered to verify the analytical conclusions.展开更多
The homogeneous dielectric barrier discharge(DBD) in atmospheric air is most favorable for polymer surface modification due to the low cost of operation and the ability of ambient on-line continuous uniform processing...The homogeneous dielectric barrier discharge(DBD) in atmospheric air is most favorable for polymer surface modification due to the low cost of operation and the ability of ambient on-line continuous uniform processing.In this paper,polypropylene(PP) films are treated using a homogeneous DBD plasma in atmospheric air.The surface properties of PP films are studied using contact angle and surface energy measurement,scanning electron microscopy (SEM) and Fourier transformed infrared spectroscopy(FTIR),and the aging effect after treatment when the treated materials are exposed to open air is also studied,with the modification mechanism being discussed.It is demonstrated that non-thermal plasmas generated by homogeneous DBD in atmospheric air is an effective way to enhance the surface properties of PP films.After the plasma treatment,the surface of PP film is etched,and oxygen-containing polar groups are introduced into the surface.These two processes can induce a remarkable decrease in water contact angle and a remarkable increase in surface energy,and the surface properties of PP films are improved accordingly.展开更多
Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-bas...Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-based residual generator in its core gives a more general form of the previous works.Its applications to residual centred modelling of uncertain control systems,fault detection in feedback control systems with uncertainties,fault-tolerant control(FTC)as well as control performance degradation monitoring,detection and recovery are introduced.In conclusion,some future perspectives are proposed.展开更多
基金Supported by National Outstanding Youth Science Foundation （61125306）, Major Research Plan of National Natural Science Foundation of China （91016004）, National Natural Science Foundation （61203071）, Fundamental Research Funds for the Central Universities （FRF-TP-13-017A）, and Specialized Research Fund for the Doctoral Program of Higher Education （20130006120027, 20110092110020）
基金Supported by National Natural Science Foundation of China （61304079, 61125306, 61034002）, the Open Research Project from SKLMCCS （20120106）, the Fundamental Research Funds for the Central Universities （FRF-TP-13-018A）, and the China Postdoctoral Science. Foundation （201_3M_ 5305_27）_ _ _
文摘为有致动器浸透和未知动力学的分离时间的系统的一个班的一个新奇最佳的追踪控制方法在这份报纸被建议。计划基于反复的适应动态编程(自动数据处理) 算法。以便实现控制计划，一个 data-based 标识符首先为未知系统动力学被构造。由介绍 M 网络，稳定的控制的明确的公式被完成。以便消除致动器浸透的效果， nonquadratic 表演功能被介绍，然后一个反复的自动数据处理算法被建立与集中分析完成最佳的追踪控制解决方案。为实现最佳的控制方法，神经网络被用来建立 data-based 标识符，计算性能索引功能，近似最佳的控制政策并且分别地解决稳定的控制。模拟例子被提供验证介绍最佳的追踪的控制计划的有效性。
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.
文摘In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factorizing the characteristic equation of the multi-agent system into a set of reduced-order factors,the problem is transformed to the stability analysis of resulting factors with reduction in complexity.Furthermore,stable ranges of the control gain,such that the consensus of multi-agent systems could be reached when delays vanish,are analyzed.With control gain confined to stable ranges,and applying the advanced clustering with frequency sweeping method to investigate the stability of factors,the delay-independent and delay-dependent consensus are discussed.An illustrative example is offered to verify the analytical conclusions.
基金Supported by Nationai Natural Science Foundation of China （61074085）, Beijing Natural Science Foundation （4122029, 4142035）, and the Fundamental Research Funds for the Central Universities （F_RF-SD-12-008B, FRF-AS- 11-004B）
基金Supported by National Natural Science Foundation of China(50707012),State Key Laboratory of Electrical Insulation and Power Equipment(EIPE11205),"Qing Lan Project"in Jiangsu Province of China.
文摘The homogeneous dielectric barrier discharge(DBD) in atmospheric air is most favorable for polymer surface modification due to the low cost of operation and the ability of ambient on-line continuous uniform processing.In this paper,polypropylene(PP) films are treated using a homogeneous DBD plasma in atmospheric air.The surface properties of PP films are studied using contact angle and surface energy measurement,scanning electron microscopy (SEM) and Fourier transformed infrared spectroscopy(FTIR),and the aging effect after treatment when the treated materials are exposed to open air is also studied,with the modification mechanism being discussed.It is demonstrated that non-thermal plasmas generated by homogeneous DBD in atmospheric air is an effective way to enhance the surface properties of PP films.After the plasma treatment,the surface of PP film is etched,and oxygen-containing polar groups are introduced into the surface.These two processes can induce a remarkable decrease in water contact angle and a remarkable increase in surface energy,and the surface properties of PP films are improved accordingly.
基金This work was supported by the National Natural Science Foundation of China(62020106003,62073029)the Beijing Natural Science Foundation(4202045)the Fundamental Research Funds for the Central Universities(FRF-TP-20-012A3).
文摘Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-based residual generator in its core gives a more general form of the previous works.Its applications to residual centred modelling of uncertain control systems,fault detection in feedback control systems with uncertainties,fault-tolerant control(FTC)as well as control performance degradation monitoring,detection and recovery are introduced.In conclusion,some future perspectives are proposed.
