This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine(PWA) systems.The main objective is to derive design methods that will incorpo...This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine(PWA) systems.The main objective is to derive design methods that will incorporate the partition information of the PWA systems so as to reduce the design conservatism embedded in existing design methods.We first introduce a transformation that converts the feedback control design problem into a bilinear matrix inequality(BMI) problem.Then,two iterative algorithms are proposed to compute the feedback controllers characterized by the BMI.Several simulation examples are given to demonstrate the advantages of the proposed design.展开更多
An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output f...An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.展开更多
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback lin...Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.展开更多
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
Y2000-62203-3312 0015761最优化非线性输出反馈控制设计=Towards optimiza-tion-based nonlinear output feedback control design[会,英]/Collins,Jr.,E.G.& Sadhukhan,D.//1999IEEE Proceedings of American Control Conference....Y2000-62203-3312 0015761最优化非线性输出反馈控制设计=Towards optimiza-tion-based nonlinear output feedback control design[会,英]/Collins,Jr.,E.G.& Sadhukhan,D.//1999IEEE Proceedings of American Control Conference.Vol.5 0f 6.—3312～3316(NiD)本文提出了一种基于控制李雅普诺夫函数的最优化方法用于含多项式非线性的状态和输出反馈控制器设计。为使控制算法计算简单,最优化问题采用启发式准则增强了李雅普诺夫函数的负定性。最后论文举例揭示了方法的应用,并讨论了进一步的发展。展开更多
This paper addresses the synchronization problem of Boolean networks.Based on the matrix expression of logic,solvability conditions and design procedures of the synchronization of Boolean networks with outputs are giv...This paper addresses the synchronization problem of Boolean networks.Based on the matrix expression of logic,solvability conditions and design procedures of the synchronization of Boolean networks with outputs are given for both open-loop and feedback control.Necessary and sufficient conditions on open-loop control are proposed first with a constructive design procedure.Then sufficient condition for the feedback control case is obtained,and corresponding design procedure is proposed with the help of algorithms to solve logic matrix equations.Numerical examples are also provided to illustrate the proposed control design.展开更多
This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring...This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.展开更多
文摘This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine(PWA) systems.The main objective is to derive design methods that will incorporate the partition information of the PWA systems so as to reduce the design conservatism embedded in existing design methods.We first introduce a transformation that converts the feedback control design problem into a bilinear matrix inequality(BMI) problem.Then,two iterative algorithms are proposed to compute the feedback controllers characterized by the BMI.Several simulation examples are given to demonstrate the advantages of the proposed design.
基金Project(60704005) supported by the National Natural Science Foundation of China Project(07ZR14119) supported by Natural Science Foundation of Shanghai Science and Technology Commission Project(2009AA04Z213) supported by the National High-Tech Research and Development Program of China
文摘An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.
基金Project(60974047)supported by the National Natural Science Foundation of ChinaProject(S2012010008967)supported by the Natural Science Foundation of Guangdong Province,China+4 种基金Project supported by the Science Fund for Distinguished Young Scholars,ChinaProject supported by 2011 Zhujiang New Star Fund,ChinaProject(121061)supported by FOK Ying Tung Education Foundation of ChinaProject supported by the Ministry of Education for New Century Excellent Talent,ChinaProject(20124420130001)supported by the Doctoral Fund of Ministry of Education of China
文摘Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded(UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
文摘Y2000-62203-3312 0015761最优化非线性输出反馈控制设计=Towards optimiza-tion-based nonlinear output feedback control design[会,英]/Collins,Jr.,E.G.& Sadhukhan,D.//1999IEEE Proceedings of American Control Conference.Vol.5 0f 6.—3312～3316(NiD)本文提出了一种基于控制李雅普诺夫函数的最优化方法用于含多项式非线性的状态和输出反馈控制器设计。为使控制算法计算简单,最优化问题采用启发式准则增强了李雅普诺夫函数的负定性。最后论文举例揭示了方法的应用,并讨论了进一步的发展。
基金supported by the National Natural Science Foundation of China under Grant No.61174071
文摘This paper addresses the synchronization problem of Boolean networks.Based on the matrix expression of logic,solvability conditions and design procedures of the synchronization of Boolean networks with outputs are given for both open-loop and feedback control.Necessary and sufficient conditions on open-loop control are proposed first with a constructive design procedure.Then sufficient condition for the feedback control case is obtained,and corresponding design procedure is proposed with the help of algorithms to solve logic matrix equations.Numerical examples are also provided to illustrate the proposed control design.
基金supported by the Swedish Research Council(VR)the Swedish Foundation for Strategic Research(SSF)+3 种基金the NNSF of China under Grant Nos.61203142 and 61273221the Excellent Young Technology Innovation Foundation of Hebei University of Technology under Grant No.2012005the Ministry of Education Innovation Team Development Plan under Grant No.IRT1232the Natural Science Foundation of Tianjin under Grant No.13JCQNJC03500
文摘This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.
