Decentralized robust guaranteed cost control for a class of interconnected singular large-scale systems with time-delay and parameter uncertainty

The decentralized robust guaranteed cost control problem is studied for a class of interconnected singular large-scale systems with time-delay and norm-bounded time-invariant parameter uncertainty under a given quadratic cost performance function. The problem that is addressed in this study is to design a decentralized robust guaranteed cost state feedback controller such that the closed-loop system is not only regular, impulse-free and stable, but also guarantees an adequate level of performance for all admissible uncertainties. A sufficient condition for the existence of the decentralized robust guaranteed cost state feedback controllers is proposed in terms of a linear matrix inequality （LMI） via LMI approach. When this condition is feasible, the desired state feedback decentralized robust guaranteed cost controller gain matrices can be obtained. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed approach.

Optimal tracking control for linear time-delay large-scale systems with persistent disturbances

An optimal tracking control （OTC） problem for linear time-delay large-scale systems affected by external persistent disturbances is investigated. Based on the internal model principle, a disturbance compensator is constructed. The system with persistent disturbances is transformed into an augmented system without persistent disturbances. The original OTC problem of linear time-delay system is transformed into a sequence of linear two- point boundary value （TPBV） problems by introducing a sensitivity parameter and expanding Maclaurin series around it. By solving an OTC law of the augmented system, the OTC law of the original system is obtained. A numerical simulation is provided to illustrate the effectiveness of the proposed method.

Attitude tracking control of flexible spacecraft with large amplitude slosh

This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli–Euler beam, and the assumed modal method is employed.A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics,liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.

Performance enhancement of a viscoelastic bistable energy harvester using time-delayed feedback control

This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting efficiency. Firstly, to obtain the dimensionless governing equation of the system, the original bistable system is approximated as a system without viscoelastic term by using the stochastic averaging method of energy envelope, and then is further decoupled to derive an equivalent system. The credibility of the proposed method is validated by contrasting the consistency between the numerical and the analytical results of the equivalent system under different noise conditions. The influence of system parameters on average output power is analyzed, and the control effect of the time-delayed feedback control on system performance is compared. The output performance of the system is improved with the occurrence of stochastic resonance(SR). Therefore, the signal-to-noise ratio expression for measuring SR is derived, and the dependence of its SR behavior on different parameters is explored.

Measures for controlling large deformations of underground caverns under high in-situ stress condition--A case study of JinpingⅠhydropower station

The Jinping I hydropower station is a huge water conservancy project consisting of the highest concrete arch dam to date in the world and a highly complex and large underground powerhouse cavern. It is located on the right bank with extremely high in-situ stress and a few discontinuities observed in surrounding rock masses. The problems of rock mass deformation and failure result in considerable challenges related to project design and construction and have raised a wide range of concerns in the fields of rock mechanics and engineering. During the excavation of underground caverns, high in-situ stress and relatively low rock mass strength in combination with large excavation dimensions lead to large deformation of the surrounding rock mass and support. Existing experiences in excavation and support cannot deal with the large deformation of rock mass effectively, and further studies are needed. In this paper, the geological conditions, layout of caverns, and design of excavation and support are first introduced, and then detailed analyses of deformation and failure characteristics of rocks are presented. Based on this, the mechanisms of deformation and failure are discussed, and the support adjustments for controlling rock large deformation and subsequent excavation procedures are proposed. Finally, the effectiveness of support and excavation adjustments to maintain the stability of the rock mass is verified. The measures for controlling the large deformation of surrounding rocks enrich the practical experiences related to the design and construction of large underground openings, and the construction of caverns in the Jinping I hydropower station provides a good case study of large-scale excavation in highly stressed ground with complex geological structures, as well as a reference case for research on rock mechanics.

Remote Control and Telemetry System for Large-scale Model Test at Sea

Physical testing of large-scale ship models at sea is a new experimental method.It is a cheap and reliable way to research the environment adaptability of a ship in complex and extreme wave conditions.It is necessary to have a stable experimental system for the test.Since the experimental area is large, a remote control system and a telemetry system are essential, and were designed by the authors.An experiment was conducted on the Songhuajiang River to test the systems.The relationship between the model's speed and its electromotor's revolutions was also measured during the model test.The results showed that the two systems make it possible to carry out large-scale model tests at sea.

Congestion control algorithm in large-delay uncertain networks

Based on Smith-fuzzy controller, a new active queue management （AQM） algorithm adaptable to the large-delay uncertain networks is presented. It can compensate the negative impact on the queue stability caused by the large delay, and it also maintains strong robustness under the condition of dynamic network fluid. Its stability is proven through Lyapunov method. Simulation results demonstrated that this method enables the queue length to converge at a preset value quickly and keeps the queue oscillation small, the simulation results also show that the scheme is very robust to disturbance under various network conditions and large delay and, in particular, the algorithm proposed outperforms the conventional PI control and fuzzy control when the network parameters and network delay change.

Decentralized H_∞ state feedback control for large-scale interconnected uncertain systems with multiple delays

Decentralized H_∞ control was studied for a class of interconnected uncertain systems with multiple delays in the state and control and time varying but norm-bounded parametric uncertainties. A sufficient condition which makes the closed-loop system decentralized asymptotically stable with H_∞ performance was derived based on Lyapunov stability theorem. This condition is expressed as the solvability problem of linear matrix inequalities. The method overcomes the limitations of the existing algebraic Riccati equation method. Finally, a numerical example was given to demonstrate the design procedure for the decentralized H_∞ state feedback controller.

Risk Management of Clinical Reference Dosimetry of a Large Hospital Network Using Statistical Process Control

Managing TG-51 reference dosimetry in a large hospital network can be a challenging task. The objectives of this study are to investigate the effectiveness of using Statistical Process Control (SPC) to manage TG-51 workflow in such a network. All the sites in the network performed the annual reference dosimetry in water according to TG-51. These data were used to cross-calibrate the same ion chambers in plastic phantoms for monthly QA output measurements. An energy-specific dimensionless beam quality cross-calibration factor, , was derived to monitor the process across multiple sites. The SPC analysis was then performed to obtain the mean, , standard deviation, σk, the Upper Control Limit (UCL) and Lower Control Limit (LCL) in each beam. This process was first applied to 15 years of historical data at the main campus to assess the effectiveness of the process. A two-year prospective study including all 30 linear accelerators spread over the main campus and seven satellites in the network followed. The ranges of the control limits (±3σ) were found to be in the range of 1.7% - 2.6% and 3.3% - 4.2% for the main campus and the satellite sites respectively. The wider range in the satellite sites was attributed to variations in the workflow. Standardization of workflow was also found to be effective in narrowing the control limits. The SPC is effective in identifying variations in the workflow and was shown to be an effective tool in managing large network reference dosimetry.

SVD Approach for Actuator and Sensor Placement in Active Vibration Control of Large Cable Net Structures

The actuator and sensor placement problem for active vibration control of large cable net structures is investigated in this paper.Since the structures exhibit closely spaced modes in the range of low frequencies,the number of modes to be considered is quite large after modal truncation,while only a limited number of actuators and sensors are to be placed.This makes it hard to determine the actuator and sensor locations with the existing placement methods in the literature such as the methods based on the controllability/observability grammian.To deal with this issue,an actuator and sensor placement method based on singular value decompositions(SVD)of the input and output matrices is proposed,which guarantees the modal controllability and observability of the system.The effectiveness of the SVD based method is verified through numerical simulations in which comparisons are conducted between randomly-chosen locations and the optimal ones obtained by a genetic algorithm.

Development of pressure control system in counter gravity casting for large thin-walled A357 aluminum alloy components

Counter gravity casting equipments(CGCE) were widely used to produce large thin-walled A357 aluminum alloy components. To improve the pressure control precision of CGCE to get high quality castings, a pressure control system based on fuzzy-PID hybrid control technology and the digital assembled valve was developed. The actual pressure tracking experiment results show that the special system by applying PID controller and fuzzy controller to varied phases, is not only able to inherit the small error and good static stability of classical PID control, but also has fuzzy control’s advantage of fully adapting itself to the object. The pressure control error is less than 0.3 kPa. By using this pressure control system, large complex thin-walled A357 aluminum alloy castings with high quality was successfully produced.

Mechanism and practice of rock control in deep large span cut holes

Deep large span cut holes are difficult to stabilize. The 7801 cut hole in the Lu'an Wuyang Mine was used as this project's background. The main factors affecting large span cut hole stability are analyzed. Pre- stressed bolting theory was used to design a roof control method for a large span roadway. By reducing the span and applying equal strength coordinated supports the rock could be stabilized. The control prin- ciples and methods are given herein along with the analysis. A double micro arch cross section roadway is defined and its use in solving the current problem is described. Beam arch theory was used to build a model of the double micro arch cross section roadway. A support reverse force model for the arch foot intersection was also derived. A support method based upon reducing the width of the large span in the cut hole is presented. These results show that the reduced span of the roadway roof plus the use of cable anchors and single supports gives an effective way to control the large span cut hole. On site monitoring showed that the reduced span support from the double micro arch cross section roadway design had a significant effect. The roadway surface displacement was small and harmful deformation of the cut hole was effectively controlled. This will ensure its long term stability.

Effects of process parameters on numerical control bending process for large diameter thin-walled aluminum alloy tubes

Numerical control(NC) bending experiments with different process parameters were carried out for 5052O aluminum alloy tubes with outer diameter of 70 mm, wall thickness of 1.5 mm, and centerline bending radius of 105 mm. And the effects of process parameters on tube wall thinning and cross section distortion were investigated. Meanwhile, acceptable bending of the 5052O aluminum tubes was accomplished based on the above experiments. The results show that the effects of process parameters on bending process for large diameter thin-walled aluminum alloy tubes are similar to those for small diameter thin-walled tubes, but the forming quality of the large diameter thin-walled aluminum alloy tubes is much more sensitive to the process parameters and thus it is more difficult to form.

Global exponentially stability for time-delay and time-varying measure large scale systems with impulsive effects

The global exponentially stability was studied for time-delay and time-varying measure large scale systems with impulsive effects. Firstly, the concepts are drawn for the functional category. Secondly, some sufficient conditions of the uniformly stability and the global exponentially stability are given for the above systems through defining a Lyapunov function of the weighting sum of the variable absolute by using the Lyapunov function method and the comparison principle. At the same time, the new conclusion of stability of these systems is more universal and contains the existing results. Finally, an example is given to illustrate the feasibility and validity of the obtained results.

Filter-based iterative learning control for linear large-scale industrial processes

In the procedure of the steady-state hierarchical optimization with feedback for large-scale industrial processes, a sequence of set-point changes with different magnitudes is carried out on the optimization layer. To improve the dynamic performance of transient response driven by the set-point changes, a filter-based iterative learning control strategy is proposed. In the proposed updating law, a local-symmetric-integral operator is adopted for eliminating the measurement noise of output information,a set of desired trajectories are specified according to the set-point changes sequence, the current control input is iteratively achieved by utilizing smoothed output error to modify its control input at previous iteration, to which the amplified coefficients related to the different magnitudes of set-point changes are introduced. The convergence of the algorithm is conducted by incorporating frequency-domain technique into time-domain analysis. Numerical simulation demonstrates the effectiveness of the proposed strategy,

Sample-data Decentralized Reliable H∞ Hyperbolic Control for Uncertain Fuzzy Large-scale Systems with Time-varying Delay

这份报纸学习样品数据的问题为有变化时间的延期的不明确的连续时间的模糊大规模系统的可靠 H 夸张控制。第一，模糊夸张模型( FHM )被用来为某些复杂大规模系统建立模型，然后根据 Lyapunov 指导方法和大规模系统的分散的控制理论，线性 matrixine 质量( LMI )基于条件 arederived toguarantee H 性能不仅当所有控制部件正在操作很好时，而且面对一些可能的致动器失败。而且，致动器的精确失败参数没被要求，并且要求仅仅是失败参数的更低、上面的界限。条件依赖于时间延期的上面的界限，并且不依赖于变化时间的延期的衍生物。因此，获得的结果是不太保守的。最后，二个例子被提供说明设计过程和它的有效性。

Decentralized Iterative Learning Controllers for Nonlinear Large-scale Systems to Track Trajectories with Different Magnitudes

在为大规模工业进程的层次不变的优化编程，一种可行技术是使用真实系统的信息以便修改基于模型的最佳。在这种情形，有不同大小的步功能类型控制决定的一个序列被计算，由哪个真实系统连续地被刺激。在这份报纸，一套反复的学习控制器为大规模非线性的工业过程的一个班在分散的模式被嵌进层次不变的优化的过程。为每个分系统的控制器被用来产生升级的控制信号的一个序列以便与不同规模承担顺序的步骤控制决定的责任。学习控制设计的目的是连续地精制系统的短暂性能。借助于卷绕旋转积分的 Hausdorff 年轻的不平等，更新的规则的集中在 Lebesgue-p 标准的意义被分析。集中上的非线性和相互作用的发明被讨论。建议控制计划的有效性和有效性被一些模拟表明。

Adaptive Learning with Large Variability of Teaching Signals for Neural Networks and Its Application to Motion Control of an Industrial Robot

Recently, various control methods represented by proportional-integral-derivative （PID） control are used for robotic control. To cope with the requirements for high response and precision, advanced feedforward controllers such as gravity compensator, Coriolis/centrifugal force compensator and friction compensators have been built in the controller. Generally, it causes heavy computational load when calculating the compensating value within a short sampling period. In this paper, integrated recurrent neural networks are applied as a feedforward controller for PUMA560 manipulator. The feedforward controller works instead of gravity and Coriolis/centrifugal force compensators. In the learning process of the neural network by using back propagation algorithm, the learning coefficient and gain of sigmoid function are tuned intuitively and empirically according to teaching signals. The tuning is complicated because it is being conducted by trial and error. Especially, when the scale of teaching signal is large, the problem becomes crucial. To cope with the problem which concerns the learning performance, a simple and adaptive learning technique for large scale teaching signals is proposed. The learning techniques and control effectiveness are evaluated through simulations using the dynamic model of PUMA560 manipulator.

Decentralized H-infinity state feedback control for discrete-time singular large-scale systems

The decentralized H-infinity control problem for discrete-time singular large-scale systems is considered. Based on the bounded real lemma of discrete-time singular systems, a sufficient condition for the existence of decentralized H-infinity controller for discrete-time singular large-scale systems is presented in terms of the solvability to a certain system of linear matrix inequalities by linear matrix inequality (LMI) approach, and the feasible solutions to the system of LMIs provide a parameterized representation of a set of decentralized H-infinity controller. The given example shows the application of the method.

On the decomposition problem of neutral type linear large scale control system in the theory of stabilization(1)

In this paper we choose the symmetric positive definite solutionof Riccati matrix algebraic equation and,construct a positive defini-tequadratic form V-function and,use Lyapunov deco mpositionequivalence method founded by Liu Yong-qing to obtain the condi-tions of the asymptotic stability of the solution of neutral typelinear large scale control system,the estimate formula of thedecom posing coefficients and time delay are also given.