Prescribed Performance Tracking Control of Time-Delay Nonlinear Systems With Output Constraints

The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.

Scheduling algorithm of dual-armed cluster tools with residency time and reentrant constraints

To solve the scheduling problem of dual-armed cluster tools for wafer fabrications with residency time and reentrant constraints,a heuristic scheduling algorithm was developed.Firstly,on the basis of formulating scheduling problems domain of dual-armed cluster tools,a non-integer programming model was set up with a minimizing objective function of the makespan.Combining characteristics of residency time and reentrant constraints,a scheduling algorithm of searching the optimal operation path of dual-armed transport module was presented under many kinds of robotic scheduling paths for dual-armed cluster tools.Finally,the experiments were designed to evaluate the proposed algorithm.The results show that the proposed algorithm is feasible and efficient for obtaining an optimal scheduling solution of dual-armed cluster tools with residency time and reentrant constraints.

Automatic pickup of arrival time of channel wave based on multi-channel constraints

Accurately detecting the arrival time of a channel wave in a coal seam is very important for in-seam seismic data processing. The arrival time greatly affects the accuracy of the channel wave inversion and the computed tomography （CT） result. However, because the signal-to-noise ratio of in-seam seismic data is reduced by the long wavelength and strong frequency dispersion, accurately timing the arrival of channel waves is extremely difficult. For this purpose, we propose a method that automatically picks up the arrival time of channel waves based on multi-channel constraints. We first estimate the Jaccard similarity coefficient of two ray paths, then apply it as a weight coefficient for stacking the multi- channel dispersion spectra. The reasonableness and effectiveness of the proposed method is verified in an actual data application. Most importantly, the method increases the degree of automation and the pickup precision of the channel-wave arrival time.

An intelligent automatic correlation method of oilbearing strata based on pattern constraints:An example of accretionary stratigraphy of Shishen 100 block in Shinan Oilfield of Bohai Bay Basin,East China

Aiming at the problem that the data-driven automatic correlation methods which are difficult to adapt to the automatic correlation of oil-bearing strata with large changes in lateral sedimentary facies and strata thickness,an intelligent automatic correlation method of oil-bearing strata based on pattern constraints is formed.We propose to introduce knowledge-driven in automatic correlation of oil-bearing strata,constraining the correlation process by stratigraphic sedimentary patterns and improving the similarity measuring machine and conditional constraint dynamic time warping algorithm to automate the correlation of marker layers and the interfaces of each stratum.The application in Shishen 100 block in the Shinan Oilfield of the Bohai Bay Basin shows that the coincidence rate of the marker layers identified by this method is over 95.00%,and the average coincidence rate of identified oil-bearing strata reaches 90.02% compared to artificial correlation results,which is about 17 percentage points higher than that of the existing automatic correlation methods.The accuracy of the automatic correlation of oil-bearing strata has been effectively improved.

A geometric framework for time-dependent mechanical systems with unilateral constraints

The description of modern differential geometry for time-dependent Chetaev nonholonomic mechanical systems with unilateral constraints is studied. By using the structure of exact contact manifold, the geometric framework of time- dependent nonholonomic mechanical systems subject to unilateral nonholonomic constraints and unilateral holonomic constraints respectively is presented.

Stabilization of linear time-varying systems with state and input constraints using convex optimization

The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（gain-scheduled） state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.

Key Dolerite Dyke Swarms of Amazonia:U-Pb Constraints on Supercontinent Cycles and Geodynamic Connections with Global LIP Events Through Time

High-resolution U–Pb(ID-TIMS,baddeleyite)ages are presented for mafic dykes from selected swarms in two important Amazonian regions:the Carajás Province in the east,and the Rio Apa block in the southwest–areas

Zircon and Apatite U-Pb Geochronology and Geochemistry of the Mafic Dykes in the Shuangxiwu Area, Northwestern Zhejiang Province: Constraints on the Initial Time of Neoproterozoic Rifting in South China

Previous studies have shown that there are some ca.770–750 Ma mafic dykes at the western segment of the Neoproterozoic Jiangnan orogen(JO),and they represent post-orogenic magmatism due to orogenic collapse(Wang

Synthesis Scheme for Low Power Designs Under Timing Constraints

To minimize the power consumption with resources operating at multiple voltages a time-constrained algorithm is presented.The input to the scheme is an unscheduled data flow graph (DFG),and timing or resource constraints.Partitioning is considered with scheduling in the proposed algorithm as multiple voltage design can lead to an increase in interconnection complexity at layout level.That is,in the proposed algorithm power consumption is first reduced by the scheduling step,and then the partitioning step takes over to decrease the interconnection complexity.The time-constrained algorithm has time complexity of O(n 2),where n is the number of nodes in the DFG.Experiments with a number of DSP benchmarks show that the proposed algorithm achieves the power reduction under timing constraints by an average of 46 5%.

Two-echelon inventory model with service level constraint and controllable lead time sensitive to order quantity

The decision-making and optimization of two-echelon inventory coordination were analyzed with service level constraint and controllable lead time sensitive to order quantity.First,the basic model of this problem was established and based on relevant analysis,the original model could be transformed by minimax method.Then,the optimal order quantity and production quantity influenced by service level constraint were analyzed and the boundary of optimal order quantity and production quantity was given.According to this boundary,the effective method and tactics were put forward to solve the transformed model.In case analysis,the optimal expected total cost of two-echelon inventory can be obtained and it was analyzed how service level constraint and safety factor influence the optimal expected total cost of two-echelon inventory.The results show that the optimal expected total cost of two-echelon inventory is constrained by the higher constraint between service level constraint and safety factor.

A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints

The Lagrange-I equations and measure differential equations for multibody systems with unilateral and bilateral constraints are constructed. For bilateral constraints, frictional forces and their impulses contain the products of the filled-in relay function induced by Coulomb friction and the absolute values of normal constraint reactions. With the time-stepping impulse-velocity scheme, the measure differential equations are discretized. The equations of horizontal linear complementarity problems （HLCPs）, which are used to compute the impulses, are constructed by decomposing the absolute function and the filled-in relay function. These HLCP equations degenerate into equations of LCPs for frictional unilateral constraints, or HLCPs for frictional bilateral constraints. Finally, a numerical simulation for multibody systems with both unilateral and bilateral constraints is presented.

Missile guidance law design based on free-time convergent error dynamics

To solve the finite-time error-tracking problem in mis-sile guidance,this paper presents a unified design approach through error dynamics and free-time convergence theory.The proposed approach is initiated by establishing a desired model for free-time convergent error dynamics,characterized by its independence from initial conditions and guidance parameters,and adjustable convergence time.This foundation facilitates the derivation of specific guidance laws that integrate constraints such as leading angle,impact angle,and impact time.The theoretical framework of this study elucidates the nuances and synergies between the proposed guidance laws and existing methodologies.Empirical evaluations through simulation comparisons underscore the enhanced accuracy and adaptability of the proposed laws.

Accelerated Primal-Dual Projection Neurodynamic Approach With Time Scaling for Linear and Set Constrained Convex Optimization Problems

The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence rates.Most previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization problems.In this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual vari-ables.By satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence rate.This only requires assuming convexity of the objective function.We validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.

控制方向未知的受限多智能体系统的预设时间模糊控制

综合考虑受控制方向未知、输入受限和状态时延影响的有领导者多智能体系统的编队控制问题,设计基于模糊逻辑系统的预设时间一致性控制策略.为了保证编队输出误差在预设时间内满足预定的约束范围要求,引入预设时间性能函数,构造Lyapunov-Krasovskii(L-K)泛函解决状态时延问题,将外界干扰和L-K泛函的导数中的部分项定义为未知非线性函数,并利用模糊逻辑系统对其进行估计,利用Nussbaum函数和均值定理分别处理控制方向未知和输入受限问题,基于以上设计,提出预设时间模糊控制策略,并通过Lyapunov稳定性理论,分析闭环系统的有界稳定性,数值对比仿真和两级化学反应器应用仿真说明控制方法的有效性.

基于Time Petri Net的实时系统冲撞检测与消解

time Petri net(TPN)在实时控制系统的建模中得到广泛应用,而冲撞是Petri网及其扩展模型的重要行为,解决冲撞是正确分析模型动态行为的关键.由于引入时间约束,使得TPN模型的使能和触发语义比Petri网模型的语义复杂,冲撞的检测及消解变得更加困难.首先根据时间约束,给出了变迁持续使能时延迟区间的计算方法,并证明了该方法的正确性;然后在此基础上定义并证明了TPN模型中冲撞的检测方法;给出了冲撞时间区间及修改时间约束的冲撞消解方法;最后通过实例验证说明了该方法的有效性和正确性.

Real Time Study and Related Variables

This paper first, illustrates the advantages of applying real time study to linguistic researches. Second, this paper also compares linguistic variables with linguistic variant; nasality, stronger constraint and weaker constraint have been clearly defined as well.

概念转喻视角下的TIME-away构式研究

一般认为,TIME-away构式是动结构式下的一个子范畴,与动结构式有相似的特征。但实际上该构式和动结构式存在本质上的差异性。文章从句法和语义的角度探讨了TIME-away构式中论元限制条件,进一步得出了构式在转喻识解下的语义值以及准入构式的动词的转喻模式。

Time-varying Sliding Mode Controls in Rigid Spacecraft Attitude Tracking

To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error （ISE） of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.

Task assignment under constraint of timing sequential for cooperative air combat

According to the previous achievement, the task assignment under the constraint of timing continuity for a cooperative air combat is studied. An extensive task assignment scenario with the background of the cooperative air combat is proposed. The utility and time of executing a task as well as the continuous combat ability are defined. The concept of the matching method of weapon and target is modified based on the analysis of the air combat scenario. The constraint framework is also redefined according to a new objective function. The constraints of timing and continuity are formulated with a new method, at the same time, the task assignment and integer programming models of the cooperative combat are established. Finally, the assignment problem is solved using the integrated linear programming software and the simulation shows that it is feasible to apply this modified model in the cooperative air combat for tasks cooperation and it is also efficient to optimize the resource assignment.

An Evolutionary Real-Time 3D Route Planner for Aircraft

A novel evolutionary route planner for aircraft is proposed in this paper. In the new planner, individual candidates are evaluated with respect to the workspace, thus the computation of the configuration space is not required. By using problem-specific chromosome structure and genetic operators, the routes are generated in real time, with different mission constraints such as minimum route leg length and flying altitude, maximum turning angle, maximum climbing/diving angle and route distance constraint taken into account.