This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In ...This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In contrast to existing literatures on continuous-time systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically,not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore,an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally,a simulation example is provided to examine the validity of the proposed scheme.展开更多
This paper addresses a boundary state feedback control problem for a coupled system of time fractional partial differential equations(PDEs)with non-constant(space-dependent)coefficients and different-type boundary con...This paper addresses a boundary state feedback control problem for a coupled system of time fractional partial differential equations(PDEs)with non-constant(space-dependent)coefficients and different-type boundary conditions(BCs).The BCs could be heterogeneous-type or mixed-type.Specifically,this coupled system has different BCs at the uncontrolled side for heterogeneous-type and the same BCs at the uncontrolled side for mixed-type.The main contribution is to extend PDE backstepping to the boundary control problem of time fractional PDEs with space-dependent parameters and different-type BCs.With the backstepping transformation and the fractional Lyapunov method,the Mittag-Leffler stability of the closed-loop system is obtained.A numerical scheme is proposed to simulate the fractional case when kernel equations have not an explicit solution.展开更多
基金supported in part by National Natural Science Foundation of China(61573108,61273192,61333013)the Ministry of Education of New Century Excellent Talent(NCET-12-0637)+1 种基金Natural Science Foundation of Guangdong Province through the Science Fund for Distinguished Young Scholars(S20120011437)Doctoral Fund of Ministry of Education of China(20124420130001)
文摘This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In contrast to existing literatures on continuous-time systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically,not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore,an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally,a simulation example is provided to examine the validity of the proposed scheme.
基金supported by National Natural Science Foundation of China under Grant No.62203070Science and Technology Project of Changzhou University under Grant Nos.ZMF20020460,KYP2102196C,and KYP2202225C+1 种基金Changzhou Science and Technology Agency under Grant No.CE20205048the PhD Scientific Research Foundation of Binzhou University under Grant No.2020Y04.
文摘This paper addresses a boundary state feedback control problem for a coupled system of time fractional partial differential equations(PDEs)with non-constant(space-dependent)coefficients and different-type boundary conditions(BCs).The BCs could be heterogeneous-type or mixed-type.Specifically,this coupled system has different BCs at the uncontrolled side for heterogeneous-type and the same BCs at the uncontrolled side for mixed-type.The main contribution is to extend PDE backstepping to the boundary control problem of time fractional PDEs with space-dependent parameters and different-type BCs.With the backstepping transformation and the fractional Lyapunov method,the Mittag-Leffler stability of the closed-loop system is obtained.A numerical scheme is proposed to simulate the fractional case when kernel equations have not an explicit solution.
