In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to ...In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to state practical stability in probability and its Lyapunov criterion for random systems are presented.As a major application of stability,the semi-global practical tracking of random nonlinear systems based on dynamic surface control technique is considered.The trajectory tracking of manipulator robot driven by direct current motors is carried out in simulation to illustrate the effectiveness and feasibility of the control scheme.展开更多
In this paper, the control of a two-time-scale plant, where the sensor is connected to a linear controller/ actuator via a network is addressed. The slow and fast systems of singularly perturbed systems are used to pr...In this paper, the control of a two-time-scale plant, where the sensor is connected to a linear controller/ actuator via a network is addressed. The slow and fast systems of singularly perturbed systems are used to produce an estimate of the plant state behavior between transmission times, by which one can reduce the usage of the network. The approximate solutions of the whole systems are derived and it is shown that the whole systems via the network control are generally asymptotically stable as long as their slow and fast systems are both stable. These results are also extended to the case of network delay.展开更多
This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint...This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint.The proposed AGDI control law will be comprised of two control elements.The baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control objectives.The control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized inversion.To boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode principle.In discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering reduction.The closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is guaranteed.Rigorous computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.展开更多
基金supported by the National Natural Science Foundations of China under Grant No.62073275。
文摘In this paper,a new stochastic analysis tool on semi-global stability is constructed,for nonlinear systems disturbed by stochastic processes with strongly bounded in probability.The definition of semi-global noise to state practical stability in probability and its Lyapunov criterion for random systems are presented.As a major application of stability,the semi-global practical tracking of random nonlinear systems based on dynamic surface control technique is considered.The trajectory tracking of manipulator robot driven by direct current motors is carried out in simulation to illustrate the effectiveness and feasibility of the control scheme.
基金the National Natural Science Foundation of China (No. 10671069, 60674046)
文摘In this paper, the control of a two-time-scale plant, where the sensor is connected to a linear controller/ actuator via a network is addressed. The slow and fast systems of singularly perturbed systems are used to produce an estimate of the plant state behavior between transmission times, by which one can reduce the usage of the network. The approximate solutions of the whole systems are derived and it is shown that the whole systems via the network control are generally asymptotically stable as long as their slow and fast systems are both stable. These results are also extended to the case of network delay.
基金This research work was funded by Institutional Fund Projects under Grant No.(IFPHI-106-135-2020).
文摘This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint.The proposed AGDI control law will be comprised of two control elements.The baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control objectives.The control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized inversion.To boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode principle.In discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering reduction.The closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is guaranteed.Rigorous computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.
基金The NNSF of P.R.China(60604004)Natural Science Foundation of Hebei province (No.07M005)Scientific and Technological Support Project of Qinhuangdao(201001 A037,201101A168)
