Quantum control based on three forms of Lyapunov functions

This paper introduces the quantum control of Lyapunov functions based on the state distance, the mean of imaginary quantities and state errors.In this paper, the specific control laws under the three forms are given.Stability is analyzed by the La Salle invariance principle and the numerical simulation is carried out in a 2D test system.The calculation process for the Lyapunov function is based on a combination of the average of virtual mechanical quantities, the particle swarm algorithm and a simulated annealing algorithm.Finally, a unified form of the control laws under the three forms is given.

Neuropeptide cholecystokinin:a key neuromodulator for hippocampal functions

Spatial memory is crucial for survival within external surroundings and wild environments.The hippocampus,a critical hub for spatial learning and memory formation,has received extensive investigations on how neuromodulators shape its functions(Teixeira et al.,2018;Zhang et al.,2024).However,the landscape of neuromodulations in the hippocampal system remains poorly understood because most studies focus on classical monoamine neuromodulators,such as acetylcholine,serotonin,dopamine,and noradrenaline.The neuropeptides,comprising the most abundant neuromodulators in the central nervous system,play a pivotal role in neural information processing in the hippocampal system.Cholecystokinin(CCK),one of the most abundant neuropeptides,has been implicated in regulating various physiological and neurobiological statuses(Chen et al.,2019).CCK-A receptor(CCK-AR)and CCK-B receptors(CCK-BR)are two key receptors mediating the biological functions of CCK,both of which belong to class-A sevenfold transmembrane G protein-coupled receptors(Nishimura et al.,2015).CCK-AR preferentially reacts to sulfated CCK,whereas CCK-BR binds both CCK and gastrin with similar affinities(Ding et al.,2022).The expression patterns of CCK-AR and CCK-BR are distinct,implying that CCK has various functions in target regions.For instance,CCK-AR is widely expressed in the GI and brain subregions and is hence implicated in the control of digestive function and satiety regulation.Conversely,CCK-BR is abundantly and widely distributed in the central nervous system,which majorly regulates anxiety,learning,and memory(Ding et al.,2022).However,the roles of endogenous CCK and CCK receptors in regulating hippocampal function at electrophysiological and behavioral levels have received less attention.

Stability analysis for affine fuzzy system based on fuzzy Lyapunov functions

An analysis method based on the fuzzy Lyapunov functions is presented to analyze the stability of the continuous affine fuzzy systems. First, a method is introduced to deal with the consequent part of the fuzzy local model. Thus, the stability analysis method of the homogeneous fuzzy system can be used for reference. Stability conditions are derived in terms of linear matrix inequalities based on the fuzzy Lyapunov functions and the modified common Lyapunov functions, respectively. The results demonstrate that the stability result based on the fuzzy Lyapunov functions is less conservative than that based on the modified common Lyapunov functions via numerical examples. Compared with the method which does not expand the consequent part, the proposed method is simpler but its feasible region is reduced. Finally, in order to expand the application of the fuzzy Lyapunov functions, the piecewise fuzzy Lyapunov function is proposed, which can be used to analyze the stability for triangular or trapezoidal membership functions and obtain the stability conditions. A numerical example validates the effectiveness of the proposed approach.

基于对数型障碍Lyapunov函数的俯仰驾驶仪设计

相控阵雷达制导拦截弹在拦截高速大机动目标时,弹体气动参数剧烈非线性变化影响控制系统对大攻角的响应效果,应设计考虑攻角指令跟踪误差约束的鲁棒自动驾驶仪控制律。基于双幂次趋近律和对数型障碍李雅普诺夫函数设计了鲁棒非线性自动驾驶仪控制律,可将攻角指令的跟踪误差快速收敛于约束范围内。通过降阶扩张状态观测器对系统中存在的气动参数不确定性和系统外部扰动进行在线估计和补偿。稳定性分析和数值仿真表明,攻角可在1 s内达到稳态且攻角响应的稳态误差<10-4°,所提出的自动驾驶仪控制律具有较强的鲁棒性,能够准确稳定地跟踪攻角指令,控制导弹产生所需过载进而精准拦截目标。

Construction of Control Lyapunov Functions for a Class of Nonlinear Systems

The construction of control Lyapunov functions for a class of nonlinear systems is considered. We develop a method by which a control Lyapunov function for the feedback linearizable part can be constructed systematically via Lyapunov equation. Moreover, by a control Lyapunov function of the feedback linearizable part and a Lyapunov function of the zero dynamics, a control Lyapunov function for the overall nonlinear system is established.

On stability of discontinuous systems via vector Lyapunov functions

This paper deals with the stability of systems with discontinuous righthand side （with solutions in Filippov＇s sense） via locally Lipschitz continuous and regular vector Lyapunov functions. A new type of “set-valued derivative” of vector Lyapunov functions is introduced, some generalized comparison principles on discontinuous systems are shown. Furthermore, Lyapunov stability theory is developed for a class of discontinuous systems based on locally Lipschitz continuous and regular vector Lyapunov functions.

Stabilization of discrete nonlinear systems based on control Lyapunov functions

The stabilization of discrete nonlinear systems is studied. Based on control Lyapunov functions, a sufficient and necessary condition for a quadratic function to be a control Lyapunov function is given. From this condition, a continuous state feedback law is constructed explicitly. It can globally asymptotically stabilize the equilibrium of the closed-loop system. A simulation example shows the effectiveness of the proposed method.

Universal construction of control Lyapunov functions for a class of nonlinear systems

A method is developed by which control Lyapunov functions of a class of nonlinear systems can be constructed systematically. Based on the control Lyapunov function, a feedback control is obtained to stabilize the closed-loop system. In addition, this method is applied to stabilize the Benchmark system. A simulation shows the effectiveness of the method.

Constructing Common Quadratic Lyapunov Functions for a Class of Stable Matrices

Narendra 和 Balakrishnan 建议了一个方法构造普通二次的 Lyapunov 功能(CQLF )[1 ] ，稳定的矩阵的 whena 集合是可交换的。这份报纸的目的是概括方法到非可交换、非可解决的大小写。一个修改构造算法被建议，某些条件被提供向是的矩阵保证结果 CQLF。下次，讨论的问题是一个稳定的矩阵什么时候能与 CQLF 被加到一套矩阵为扩大集合构造新 CQLF。

Hybrid Predictive Control Based on High-Order Differential State Observers and Lyapunov Functions for Switched Nonlinear Systems

In this paper, a hybrid predictive controller is proposed for a class of uncertain switched nonlinear systems based on high-order differential state observers and Lyapunov functions. The main idea is to design an output feedback bounded controller and a predictive controller for each subsystem using high-order differential state observers and Lyapunov functions, to derive a suitable switched law to stabilize the closed-loop subsystem, and to provide an explicitly characterized set of initial conditions. For the whole switched system, based on the high-order differentiator, a suitable switched law is designed to ensure the whole closed-loop’s stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.

基于隐式Lyapunov函数的弹药传输机械臂变增益超螺旋滑模控制

为提高某弹药传输机械臂在传输弹药过程中受到负载不确定性影响下的定位控制鲁棒性,提出一种新型的基于隐式Lyapunov函数变增益超螺旋滑模控制方法。建立弹药传输机械臂系统的动力学方程,并对方程中摩擦力矩及支反力矩的重要参数进行辨识,减少系统不确定性。构造隐式Lyapunov函数并设计出一种新型的变增益超螺旋滑模控制策略,通过Lyapunov稳定性理论证明闭环系统全局稳定。超螺旋滑模控制增益的变化取决于系统的Lyapunov函数,是滑模变量的可微函数,具有控制参数易调节的优势。实验结果表明:摩擦力矩及支反力矩补偿可使系统定位时间由补偿前2.659 s缩短到1.157 s,提高了系统定位性能。在不同工况下,控制方法可有效地抑制系统负载不确定性的影响,保证系统的定位稳定性。

Robust D-stability LMI conditions of matrix polytopes via affine parameter-dependent Lyapunov functions

The problem of the robust D-stability analysis for linear systems with parametric uncertainties is addressed. For matrix polytopes, new conditions via the affine parameter-dependent Lyapunov function of uncertain systems are developed with the benefit of the scalar multi-convex function. To be convenient for applications, such conditions are simplified into new linear matrix inequality （LMI） conditions, which can be solved by the powerful LMI toolbox. Numerical examples are provided to indicate that this new approach is less conservative than previous results for Hurwitz stability, Schur stability and D-stability of uncertain systems under certain circumstances.

Synchronising chaotic Chua's circuit using switching feedback control based on piecewise quadratic Lyapunov functions

This paper investigates the chaos synchronisation between two coupled chaotic Chua＇s circuits. The sufficient condition presented by linear matrix inequalities （LMIs） of global asymptotic synchronisation is attained based on piecewise quadratic Lyapunov functions. First, we obtain the piecewise linear differential inclusions （pwLDIs） model of synchronisation error dynamics, then we design a switching （piecewise-linear） feedback control law to stabilise it based on the piecewise quadratic Laypunov functions. Then we give some numerical simulations to demonstrate the effectiveness of our theoretical results.

Robust L_1 filtering with pole constraint in a disk via parameter-dependent Lyapunov functions

The problem of robust L 1 filtering with pole constraint in a disk for linear continuous polytopic uncertain systems is discussed. The attention is focused on design a linear asymptotically stable filter such that the filtering error system remains robustly stable, and has a L 1 performance constraint and pole constraint in a disk. The new robust L 1 performance criteria and regional pole placement condition are obtained via parameter-dependent Lyapunov functions method. Upon the proposed multiobjective performance criteria and by means of LMI technique, both full-order and reduced-order robust L 1 filter with suitable dynamic behavior can be obtained from the solution of convex optimization problems. Compared with earlier result in the quadratic framework, this approach turns out to be less conservative. The efficiency of the proposed technique is demonstrated by a numerical example.

Relaxed delay-dependent stabilization criteria for discrete-time fuzzy systems based on a switching fuzzy model and piecewise Lyapunov functions

This paper presents delay-dependent stability analysis and controller synthesis methods for discrete-time Takagi-Sugeno （T-S） fuzzy systems with time delays. The T-S fuzzy system is transformed to an equivalent switching fuzzy system. Consequently, the delay-dependent stabilization criteria are derived for the switching fuzzy system based on the piecewise Lyapunov function. The proposed conditions are given in terms of linear matrix inequalities （LMIs）. The interactions among the fuzzy subsystems are considered in each subregion, and accordingly the proposed conditions are less conservative than the previous results. Since only a set of LMIs is involved, the controller design is quite simple and numerically tractable. Finally, a design example is given to show the validity of the proposed method.

Robust L_2-L_∞ filtering with pole constraint in a disk via parameter-dependent Lyapunov functions

Addresses the design problems of robust L2-L∞ filters with pole constraint in a disk for uncertain continuous-time linear systems. The uncertain parameters are assumed to belong to convex bounded domains. The aim is to determine a stable linear filter such that the filtering error system possesses a prescribed L2-L∞ noise attenuation level and expected poles location. The filtering strategies are based on parameter-dependent Lyapunov stability results to derive new robust L2-L∞ performance criteria and the regional pole placement conditions. From the proposed multi-objective performance criteria, we derive sufficient conditions for the existence of robust L2-L∞ filters with pole constraint in a disk, and cast the filter design into a convex optimization problem subject to a set of linear matrix inequality constraints. This filtering method exhibits less conservativeness than previous results in the quadratic framework. The advantages of the filter design procedures are demonstrated by means of numerical examples.

Design of bounded feedback controls for linear dynamical systems by using common Lyapunov functions

For a linear dynamical system,we address the problem of devising a bounded feedback control,which brings the system to the origin in finite time.The construction is based on the notion of a common Lyapunov function.It is shown that the constructed control remains effective in the presence of small perturbations.

T-S Fuzzy Stochastic Bilinear Model and Fuzzy Controller Design Based on Switching Piecewise Lyapunov Functions

Based on a piecewise quadratic lyapunov function （PQLF）, this paper presents stochastic stability analysis and synthesis methods for ItO and discrete T-S fuzzy bilinear stochastic systems. Two improved stochastic stability conditions have been established in terms of linear matrix inequalities （LMIs）. It is shown that the stability in the mean square for T-S fuzzy bilinear stochastic systems can be established if a PQLF can be constructed. Considering the established stability criterion, the controller can be designed by solving a set of （LMIs）, and the closed loop system is asymptotically stable in the mean square. Two illustrative examples are provided to demonstrate the effectiveness of the results proposed in this paper.

基于共同二次Lyapunov函数的频率可控的Boost变换器切换律

针对最小型切换律开关频率过高难以应用于工程实际的问题,建立了Boost变换器CCM运行的切换系统模型,基于共同二次Lyapunov函数提出1种新的切换律。根据切换律的数学表达式,分析变换器的稳态性能及动态性能,描述该切换律对变换器开关频率的调节机制。仿真及实验表明,在该切换律的作用下,Boost变换器开关频率可控,不会出现切换系统特有的芝诺行为,且与现有控制策略相比,变换器的动态性能好,在受到外部扰动时电压波动更小,调节时间更短。

基于Lyapunov-MPC方法的非合作目标近距离抵近控制

针对航天器近距离视线抵近同时存在轨道与姿态机动的非合作目标特定方位控制问题,提出了一种基于控制Lyapunov函数(CLF)的模型预测控制方法 (LMPC)。首先,根据视线坐标系下的轨道动力学方程,建立了满足视线指向要求的航天器相对轨道动力学模型,并推导了期望轨道的解析表达式。其次,利用MPC方法设计控制器进行在线优化控制,并通过纳入基于李雅普洛夫方法的非线性反步控制的显式特征,构建收缩约束式,以确保闭环稳定性。接着,对基于LMPC的控制方法的递归可行性和闭环稳定性进行了证明。最后,仿真结果证明了所设计的LMPC轨迹跟踪方法的有效性和鲁棒性。