Robust output regulation problem with prescribed performance for nonlinear strict feedback systems

This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.

H_∞ ROBUST PERFORMANCE DESIGN FOR UNCERTAIN SYSTEMS

This paper considers the robust per formance design problem of the linear systems with both unmodelled dynamics and real parametric uncertainties. We suggest for the first time that the problem can besolved by the H∞ mixed sensitivity method. The main idea is as follows: Firstly, the original problem istransformed into the robust per formance design problem for a pure parameter uncertain system. Then, theresulting problem is reduced to a standard H∞ control problem which can be solved by the H∞ state feedbacksynthesis method or Doyle’s "DGKF" algorithm.

A Dual Domain Robust Reversible Watermarking Algorithm for Frame Grouping Videos Using Scene Smoothness

The proposed robust reversible watermarking algorithm addresses the compatibility challenges between robustness and reversibility in existing video watermarking techniques by leveraging scene smoothness for frame grouping videos.Grounded in the H.264 video coding standard,the algorithm first employs traditional robust watermark stitching technology to embed watermark information in the low-frequency coefficient domain of the U channel.Subsequently,it utilizes histogram migration techniques in the high-frequency coefficient domain of the U channel to embed auxiliary information,enabling successful watermark extraction and lossless recovery of the original video content.Experimental results demonstrate the algorithm’s strong imperceptibility,with each embedded frame in the experimental videos achieving a mean peak signal-to-noise ratio of 49.3830 dB and a mean structural similarity of 0.9996.Compared with the three comparison algorithms,the performance of the two experimental indexes is improved by 7.59%and 0.4%on average.At the same time,the proposed algorithm has strong robustness to both offline and online attacks:In the face of offline attacks,the average normalized correlation coefficient between the extracted watermark and the original watermark is 0.9989,and the average bit error rate is 0.0089.In the face of online attacks,the normalized correlation coefficient between the extracted watermark and the original watermark is 0.8840,and the mean bit error rate is 0.2269.Compared with the three comparison algorithms,the performance of the two experimental indexes is improved by 1.27%and 18.16%on average,highlighting the algorithm’s robustness.Furthermore,the algorithm exhibits low computational complexity,with the mean encoding and the mean decoding time differentials during experimental video processing being 3.934 and 2.273 s,respectively,underscoring its practical utility.

Tracking Performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy

The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.

Randomized Algorithms for Probabilistic Optimal Robust Performance Controller Design

Polynomial-time randomized algorithms were constructed to approximately solve optimal robust performance controller design problems in probabilistic sense and the rigorous mathematical justification of the approach was given. The randomized algorithms here were based on a property from statistical learning theory known as (uniform) convergence of empirical means (UCEM). It is argued that in order to assess the performance of a controller as the plant varies over a pre-specified family, it is better to use the average performance of the controller as the objective function to be optimized, rather than its worst-case performance. The approach is illustrated to be efficient through an example.

Robust Optimization of Performance Scheduling Problem under Accepting Strategy

In this paper, the problem of program performance scheduling with accepting strategy is studied. Considering the uncertainty of actual situation, the duration of a program is expressed as a bounded interval. Firstly, we decide which programs are accepted. Secondly, the risk preference coefficient of the decision maker is introduced. Thirdly, the min-max robust optimization model of the uncertain program show scheduling is built to minimize the performance cost and determine the sequence of these programs. Based on the above model, an effective algorithm for the original problem is proposed. The computational experiment shows that the performance’s cost (revenue) will increase (decrease) with decision maker’s risk aversion.

Robust Performance of AlGaN-Channel Metal-Insulator-Semiconductor High-Electron-Mobility Transistors at High Temperatures

Superior characteristics of Al Ga N-channel metal-insulator-semiconductor（MIS） high electron mobility transistors（HEMTs） at high temperatures are demonstrated in detail. The temperature coefficient of the maximum saturation drain current for the Al GaN-channel MIS HEMT can be reduced by 50% compared with the Ga N-channel HEMT. Moreover, benefiting from the better suppression of gate current and reduced leakage current in the buffer layer, the Al Ga N-channel MIS HEMT demonstrates an average breakdown electric field of 1.83 MV/cm at25℃ and 1.06 MV/cm at 300℃, which is almost 2 times and 3 times respectively larger than that of the reference Ga N-channel HEMT. Pulsed mode analyses suggest that the proposed device suffers from smaller current collapse when the temperature reaches as high as 300℃.

Robust Performance of Scene Matching Algorithm

Performance analysis is very important in the study and design of scene matching algorithm. Based on the analysis of the common performance parameters, robustness of scene matching algorithm is defined, including the definitions of robust stability and robust performance, and the corresponding evaluation parameters matching margin and matching adaptability are given. With application of these robustness parameters on 8 scene matching algorithms, quantitative analysis results of algorithm robustness are obtained. The paper provides an important theoretical reference to the performance evaluation of scene matching algorithm.

Temperature Dependence of Performance of 6H-SiC Unipolar Power Devices

The temperature dependence of some performance of 6H SiC unipolar power devices is analyzed theoretically.By employing the temperature dependent ionization coefficient and mobility of a silicon carbide,the analytical expressions of the temperature dependent performance,such as breakdown characteristics and on resistance of 6H SiC unipolar power devices are derived in a closed form.The analytical results are compared with the experimental results,with good accordance found in the breakdown characteristics.

带扰动补偿的永磁同步电机鲁棒H∞控制

为了提高永磁同步电机调速系统的抗干扰能力,提出了一种鲁棒H∞控制方法。首先,根据鲁棒H∞控制原理,提出了永磁同步电机H∞速度控制设计方法,并介绍了求解方法。设计加权函数时考虑了跟踪性能、干扰抑制、输出限制和模型不确定性。通过伯德图详细说明了性能加权函数对动态性能的影响,并给出了加权函数的设计方法。然后,在考虑参数不确定性和未建模动态的情况下,为进一步提高系统的抗干扰能力,通过Luenberger扰动观测器将扰动作为前馈补偿观测,并将其反馈到速度控制器中,以加速动态响应,增强对扰动的抑制能力。最后,通过试验对比了传统比例积分控制器、H∞速度控制器和所提的复合速度控制器,试验结果验证了所提复合速度控制器的有效性。

具有访问约束和数据丢包的网络化系统H_(∞)鲁棒控制

针对同时存在访问约束和数据丢包的网络化控制系统,研究了H_(∞)鲁棒控制方法的设计问题.首先,采用Bernoulli随机过程来描述系统的数据丢包过程,并根据介质访问约束的随机访问机制建立了离散时间马尔可夫跳变系统模型;其次,通过Lyapunov稳定性理论和LMI技术导出闭环系统随机稳定的充分条件,并设计了相应的H_(∞)鲁棒控制器,使得闭环系统随机稳定并具有给定的H_(∞)性能;最后,通过仿真算例验证了所提控制方案的正确性和有效性.

焊接空心球连接H型钢Z字形螺栓节点静力性能研究

提出了一种新型焊接空心球连接H型钢Z字形螺栓节点(新型螺栓节点),该节点适用于全装配大跨度弦支穹顶结构体系上部网壳连接。该节点的弦杆采用热轧H型钢,方便栓接、施工便捷、制造能耗低,可以实现部品部件到体系的标准化。为了研究新型螺栓节点的静力性能,对该节点进行了轴压、轴拉、纯弯和压弯荷载工况下的有限元分析,研究了该节点在不同荷载工况下的破坏模式、承载力、刚度、延性等力学性能指标,对比分析了新型螺栓节点与焊接空心球连接H型钢焊接节点(焊接节点)的破坏模式和静力性能。研究表明,在轴压和压弯荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆局部屈曲和屈服,在轴拉荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆全截面屈服,在纯弯荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆局部屈曲。新型螺栓节点可以实现塑性铰远离焊缝和拼接区,符合“强连接,弱杆件”的设计要求。

T型钢连接方钢管柱-H型钢梁节点抗震性能分析

目的为了研究单边螺栓和T型钢连接的方钢管柱-H型钢梁节点的抗震特性,方法采用室内试验和数值模拟分析方法,对1∶2缩尺的边节点进行拟静力试验,并通过ABAQUS有限元软件进行数值模拟,综合分析边节点的滞回特性、承载力、刚度与耗能等力学特性。有限元分析变量为T型钢加肋、梁翼缘狗骨式和梁腹板开圆孔式。结果试验中,节点试件中连接件T型钢参与耗能且其变形最明显,梁、柱构件变形较小。塑性铰主要集中在连接构件T型钢上,T型钢腹板与翼缘交接处出现应力集中状态。试验弹性阶段,节点构件共同抵抗外部作用力。进入塑性阶段,节点损伤逐渐累积至T型钢,使T型钢最终产生塑性破坏而失效。有限元模拟中,T型钢加肋的形式对节点整体承载力影响最大,其中加3号肋的形式使节点承载力的增长量达到最大;梁翼缘狗骨式的形式对节点整体耗能能力影响最大,为44.01%。结论在T型钢上加肋板对节点的承载力和刚度提升较明显,对耗能能力影响不大;梁翼缘狗骨式和梁腹板开圆孔式均能提高节点的耗能能力,节点承载力和刚度基本不变;梁翼缘做狗骨式对节点抗震性能影响最显著。

不锈钢复合钢H形截面钢梁受剪承载性能

基于复合钢本构模型,明确了复合比β对不锈钢复合钢应力-应变性能的影响。通过试验结果的承载曲线和破坏模式验证了数值模拟方法的准确性,进而以β、腹板宽高比a/hw和腹板高厚比hw/tw为变量开展300个数值模型的参数分析,系统分析了各变量对不锈钢复合钢H形截面钢梁受剪承载曲线和极限承载力的影响。研究结果表明:随着β的增加,不锈钢复合钢应力-应变曲线中的屈服平台逐渐消失,复合钢应力-应变性能逐渐由碳钢转变为不锈钢。当β较小时,不锈钢复合钢应力-应变曲线存在明显的屈服平台,这削弱了复合钢的应变强化对H形截面钢梁受剪承载性能的有利影响。随着β的增加,不锈钢复合钢的非线性应变强化性能逐渐增强,导致H形截面钢梁的延性性能逐渐提高,强度性能逐渐降低。经过验证,既有的欧洲规范设计公式对不锈钢复合钢H形截面钢梁受剪极限承载力的预测过于保守。基于参数分析结果,建立了考虑β影响的腹板贡献系数计算方法。研究结论有助于推广不锈钢复合钢的工程应用。

考虑控制器饱和约束的单杆柔性机械臂鲁棒H∞保性能控制方法

针对单杆柔性机械臂建模误差,控制器饱和及外界扰动的不确定性因素,提出了单杆柔性机械臂的鲁棒H∞保性能控制方法。现有单杆柔性机械臂控制方法多是忽略了其质量对系统性能的干扰,未考虑控制器输入饱和对电机寿命的影响。因此,文章将柔性机械臂的质量作为建模不确定性,然后基于李亚普诺夫函数推导出不确定线性系统鲁棒H∞保性能控制器存在的充分必要条件,将控制问题转换为一个线性矩阵不等式的优化问题。最终使二次性能指标上界或H∞变化范围最小。仿真结果表明,所设计的控制器对于柔性机械臂的振动有很好的抑制效果。

Robust H_∞ output feedback controller design for uncertain discrete-time switched systems via switched Lyapunov functions

The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearclled. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtained by using switched Lyapunov function. Then, based on the characterization, a linear matrix inequality （LMI） approach is developed to design a switched output feedback controller which guarantees the stability and H∞ performance of the closed-loop system. A numerical example is presented to demonstrate the application of the proposed method.

Robust H_∞ control for uncertain descriptor systems with state and control delay

The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality （LMI）. Finally, a numerical example is provided to demonstrate the application of the proposed method.

Robust reliable H_∞ control for discrete-time Markov jump linear systems with actuator failures

The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback method, the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of H∞ disturbance attenuation not only when all actuators are operational, but also in case of some actuator failures, The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities （LMIs）. A numerical example is also given to illustrate the design procedures and their effectiveness.

Robust H_∞ control for aseismic structures with uncertainties in model parameters

This paper presents a robust H∞ output feedback control approach for structural systems with uncertainties in model parameters by using available acceleration measurements and proposes conditions for the existence of such a robust output feedback controller. The uncertainties of structural stiffness, damping and mass parameters are assumed to be norm-bounded. The proposed control approach is formulated within the framework of linear matrix inequalities, for which existing convex optimization techniques, such as the LM1 toolbox in MATLAB, can be used effectively and conveniently. To illustrate the effectiveness of the proposed robust H∞ strategy, a six-story building was subjected both to the 1940 E1 Centro earthquake record and to a suddenly applied Kanai-Tajimi filtered white noise random excitation. The results show that the proposed robust H∞ controller provides satisfactory results with or without variation of the structural stiffness, damping and mass parameters.

Comparative Study on Growth Performance of Transgenic(Over-Expressed OsNHX1) and Wild-Type Nipponbare under Different Salinity Regimes

Transgenic Nipponbare which over-expressed a Na＋/H~ antiporter gene OsNHX1 was used to compare its growth performance, water status and photosynthetic efficiency with its wild type under varying salinity regimes. Chlorophyll content, quantum yield and photosynthetic rate were measured to assess the impact of salinity stress on photosynthetic efficiency for transgenic and wild-type Nipponbare. Effects of salinity on water status and gas exchange to both lines were studied by measuring water use efficiency, instantaneous transpiration rate and stomatal conductance. Dry shoot weight and leaf area were determined after three months of growth to assess the impacts of salinity on the growth of those two lines. Our study showed that both lines were affected by salinity stress, however, the transgenic line showed higher photosynthetic efficiency, better utilization of water, and better growth due to low transpiration rate and stomatal conductance. Reduction of photosynthetic efficiency exhibited by the wild-type Nipponbare was correlated to its poor growth under salinity stress.