The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector...The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.展开更多
A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel,and at the same time mismatched param...A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel,and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration.A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels.A novel integral sliding surface is proposed,based on which the H∞performance of system sliding mode motion is analyzed.Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality(LMI).A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances.The results from numerical simulations are presented to corroborate the validity of the proposed controller.展开更多
This paper is concerned with fractional-order PI~λD~μcontrollers. The definitions and properties of fractional calculus are introduced. The mathematical descriptions of a fractional-order controller and fractional-o...This paper is concerned with fractional-order PI~λD~μcontrollers. The definitions and properties of fractional calculus are introduced. The mathematical descriptions of a fractional-order controller and fractional-order control systems are outlined. The effects on control systems of order variation for fractional-order PI~λD~μ controllers are investigated by qualitative analysis and simulation. The conclusions and simulation examples are given. The results show the fractional-order PI~λD~μ controller is not sensitive to variation of its order.展开更多
Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference ...Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference circuit was also introduced in the middle voltage link of inverter to avoid the shift of the optimum PF point caused by the change of the load and the reliable run of the control system was assured. The experi-ment results show that it has a good self-adaptation in the whole scope of speed ad-justment and an obvious economization on energy while it runs under load.展开更多
In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent v...In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.展开更多
In this paper, we study the stability of discrete linear singular systems by switching controller. Using some recent results on multiple-Lyapunov function technique, we obtain two sufficient conditions of linear singu...In this paper, we study the stability of discrete linear singular systems by switching controller. Using some recent results on multiple-Lyapunov function technique, we obtain two sufficient conditions of linear singular systems.展开更多
Modeling of welding process by robotic vision is basically a theoretical problem, means mainly on physical problem, and also technological problem. To obtain a good model of welding process by robotic vision, theoreti...Modeling of welding process by robotic vision is basically a theoretical problem, means mainly on physical problem, and also technological problem. To obtain a good model of welding process by robotic vision, theoretical researches are required but also constant experimental researches of several welding processes. Until today researches of welding processes has been based on empirical and detailed experimentation. This paper presents welding process by robotic and automation points of view with application of new technologies. Welding robotic system has been designed with possibility to control and inspect this process. Parameters that should be controlled during the process have been identified to reach desired quality. Figure of control system of welding process by robotic vision is given in this paper.展开更多
In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel ada...In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel adaptive fuzzy sliding coordinated control system is constructed to supervise the longitudinal and lateral motions of autonomous vehicles, in which the fuzzy system is employed to approximate the unknown nonlinear functions. Due to the low sensitivity to disturbances and plant parameter variations, the proposed control approach is an efficient way to handle with the complex dynamic plants operating under un-certainty conditions. The asymptotic stability of adaptive coordinated platoon close-loop control system is verified based on the Lyapunov stability theory. The results indicate that the presented adaptive coordinated platoon control approach can accurately achieve the tracking performance and ensures the stability and riding comfort of autonomous vehicles in a platoon. Finally,simulation test is exploited to demonstrate the effectiveness of the proposed control approach.展开更多
We study a stochastic control system involving both a standard and a fractional Brownian motion with Hurst parameter less than 1/2.We apply an anticipative Girsanov transformation to transform the system into another ...We study a stochastic control system involving both a standard and a fractional Brownian motion with Hurst parameter less than 1/2.We apply an anticipative Girsanov transformation to transform the system into another one,driven only by the standard Brownian motion with coefficients depending on both the fractional Brownian motion and the standard Brownian motion.We derive a maximum principle and the associated stochastic variational inequality,which both are generalizations of the classical case.展开更多
A component-based model integration framework for computer numerical control system design and development is presented.The model integrates modeling,simulation,verification and implementation in a uniform environment...A component-based model integration framework for computer numerical control system design and development is presented.The model integrates modeling,simulation,verification and implementation in a uniform environment.The computer numerical control(CNC) modeling language with well defined syntax and unambiguous semantics is developed.Using the proposed CNC model integration method,a three axis milling system model is developed in the case study.The approach is an attempt to create an infrastructure to support the CNC system design in an efficient way,while at the same time guarantees the function and performance requirements with advanced capability of the system such as modularity,flexibility,reusability,etc.展开更多
A class of networked control systems is investigated whose communication network is shared with other applications. The design objective for such a system setting is not only the optimization of the control performanc...A class of networked control systems is investigated whose communication network is shared with other applications. The design objective for such a system setting is not only the optimization of the control performance but also the efficient utilization of the communication resources. We observe that at a large time scale the data packet delay in the communication network is roughly varying piecewise constant, which is typically true for data networks like the Internet. Based on this observation, a dynamic data packing scheme is proposed within the recently developed packet-based control framework for networked control systems. As expected this proposed approach achieves a fine balance between the control performance and the communication utilization: the similar control performance can be obtained at dramatically reduced cost of the communication resources. Simulations illustrate the effectiveness of the proposed approach.展开更多
This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the te...This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the technical obstacles caused by the extensions are essential,new control design scheme should be exploited to the global practical tracking.By the approaches of Nussbaum-gain and adding a power integrator,the authors successfully propose the design scheme of the adaptive practical tracking controller for the systems.It is shown that the designed controller guarantees that all the closed-loop system states are bounded and the tracking error becomes prescribed arbitrarily small after a finite time.展开更多
The lathes are basic machine tools for manufacturing cylindrical parts. In recent years, the DLseries computer numerical control(CNC) heavy-duty horizontal lathes(HDHLs) have been widely used in the transportation, en...The lathes are basic machine tools for manufacturing cylindrical parts. In recent years, the DLseries computer numerical control(CNC) heavy-duty horizontal lathes(HDHLs) have been widely used in the transportation, energy and aviation industries. High availability of the CNC heavy-duty lathes is demanded to guarantee the efficiency and benefit of these manufacturing industries. As one of the key subsystems of the HDHLs, the feeding control system is studied in this paper on reliability modeling and reliability analysis. The fault tree analysis(FTA) method is used for reliability modelling of the feeding control system. Considering the multiple common cause failure groups(CCFGs) existing in the system, a modified beta factor parametric model is introduced to model the common cause failure(CCF) in system. The reliability of feeding control system is then obtained and the effect of CCF on the reliability of the whole system is studied as well.展开更多
Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear ...Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear system in Brunovsky canonical form.Then,the result is extended to generallinear systems.Finally,the nonlinear control systems are considered,and some sufficient conditionsand design techniques are also obtained.Numerical examples are presented to illustrate the proposeddesign methods.展开更多
文摘The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.
基金Projects(51476187,51506221,51606219) supported by the National Natural Science Foundation of China
文摘A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel,and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration.A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels.A novel integral sliding surface is proposed,based on which the H∞performance of system sliding mode motion is analyzed.Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality(LMI).A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances.The results from numerical simulations are presented to corroborate the validity of the proposed controller.
基金Sponsored by Shanghai Science and Technology Development Funds (Grant No.011607033).
文摘This paper is concerned with fractional-order PI~λD~μcontrollers. The definitions and properties of fractional calculus are introduced. The mathematical descriptions of a fractional-order controller and fractional-order control systems are outlined. The effects on control systems of order variation for fractional-order PI~λD~μ controllers are investigated by qualitative analysis and simulation. The conclusions and simulation examples are given. The results show the fractional-order PI~λD~μ controller is not sensitive to variation of its order.
基金Supported by Liaoning Educational Foundation(202183386)
文摘Deduced the relationship between the power factor (PF) and the angular fre-quency according to the simplified equivalent circuit of asynchronous motor, forming a power factor auto-control system. An anti-interference circuit was also introduced in the middle voltage link of inverter to avoid the shift of the optimum PF point caused by the change of the load and the reliable run of the control system was assured. The experi-ment results show that it has a good self-adaptation in the whole scope of speed ad-justment and an obvious economization on energy while it runs under load.
基金Sponsored by the National Natural Science Foundation of China(Grant No.10772152)
文摘In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.
基金Supported by the Young Teacher from Henan Province(2004)
文摘In this paper, we study the stability of discrete linear singular systems by switching controller. Using some recent results on multiple-Lyapunov function technique, we obtain two sufficient conditions of linear singular systems.
文摘Modeling of welding process by robotic vision is basically a theoretical problem, means mainly on physical problem, and also technological problem. To obtain a good model of welding process by robotic vision, theoretical researches are required but also constant experimental researches of several welding processes. Until today researches of welding processes has been based on empirical and detailed experimentation. This paper presents welding process by robotic and automation points of view with application of new technologies. Welding robotic system has been designed with possibility to control and inspect this process. Parameters that should be controlled during the process have been identified to reach desired quality. Figure of control system of welding process by robotic vision is given in this paper.
基金supported by the National Natural Science Foundation of China(Grant Nos.61304193&U1564208)National Key R&D Program of China(Grant No.2016YFB0100900)
文摘In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel adaptive fuzzy sliding coordinated control system is constructed to supervise the longitudinal and lateral motions of autonomous vehicles, in which the fuzzy system is employed to approximate the unknown nonlinear functions. Due to the low sensitivity to disturbances and plant parameter variations, the proposed control approach is an efficient way to handle with the complex dynamic plants operating under un-certainty conditions. The asymptotic stability of adaptive coordinated platoon close-loop control system is verified based on the Lyapunov stability theory. The results indicate that the presented adaptive coordinated platoon control approach can accurately achieve the tracking performance and ensures the stability and riding comfort of autonomous vehicles in a platoon. Finally,simulation test is exploited to demonstrate the effectiveness of the proposed control approach.
基金supported by National Natural Science Foundation of China(Grant No11301560)
文摘We study a stochastic control system involving both a standard and a fractional Brownian motion with Hurst parameter less than 1/2.We apply an anticipative Girsanov transformation to transform the system into another one,driven only by the standard Brownian motion with coefficients depending on both the fractional Brownian motion and the standard Brownian motion.We derive a maximum principle and the associated stochastic variational inequality,which both are generalizations of the classical case.
基金the National Natural Science Foundation of China (Nos. 50575075 and 50875090)
文摘A component-based model integration framework for computer numerical control system design and development is presented.The model integrates modeling,simulation,verification and implementation in a uniform environment.The computer numerical control(CNC) modeling language with well defined syntax and unambiguous semantics is developed.Using the proposed CNC model integration method,a three axis milling system model is developed in the case study.The approach is an attempt to create an infrastructure to support the CNC system design in an efficient way,while at the same time guarantees the function and performance requirements with advanced capability of the system such as modularity,flexibility,reusability,etc.
基金supported by the National Natural Science Foundation of China(Grant Nos.6142230761174061&61304048)+4 种基金the Scientific Research Starting Foundation for the Returned Overseas Chinese Scholars,Ministry of Education of Chinathe National Hi-Tech Research and Development Program of China("863"Project)(Grant No.2014AA06A503)the Youth Innovation Promotion Association,Chinese Academy of Sciences,in part by the Youth Top-Notch Talent Support Programthe 1000-Talent Youth ProgramZhejiang 1000-Talent Program
文摘A class of networked control systems is investigated whose communication network is shared with other applications. The design objective for such a system setting is not only the optimization of the control performance but also the efficient utilization of the communication resources. We observe that at a large time scale the data packet delay in the communication network is roughly varying piecewise constant, which is typically true for data networks like the Internet. Based on this observation, a dynamic data packing scheme is proposed within the recently developed packet-based control framework for networked control systems. As expected this proposed approach achieves a fine balance between the control performance and the communication utilization: the similar control performance can be obtained at dramatically reduced cost of the communication resources. Simulations illustrate the effectiveness of the proposed approach.
基金supported by the National Natural Science Foundations of China under Grant No.60974003 and 61143011the Natural Science Foundation for Distinguished Young Scholar of Shandong Province of China under Grant No.JQ200919+5 种基金the Program for New Century Excellent Talents in University of China under Grant No.NCET-07-0513the Key Science and Technique Foundation of Ministry of Education of China under Grant No.108079the Excellent Young and Middle-Aged Scientist Award Grant of Shandong Province of China under Grant No.2007BS01010the Independent Innovation Foundation of Shandong University under Grant No.2009JQ008the Scholarship Award for Excellent Doctoral Student granted by Ministry of Educationthe Graduate Independent Innovation Foundation of Shandong University
文摘This paper extends the unknown control coefficients with lower and upper constant bounds to the ones which may take arbitrarily large and /or small values.Since the existing methods are no longer applicable and the technical obstacles caused by the extensions are essential,new control design scheme should be exploited to the global practical tracking.By the approaches of Nussbaum-gain and adding a power integrator,the authors successfully propose the design scheme of the adaptive practical tracking controller for the systems.It is shown that the designed controller guarantees that all the closed-loop system states are bounded and the tracking error becomes prescribed arbitrarily small after a finite time.
基金the National Science and Technology Major Project of China(No.2014ZX04014-011)
文摘The lathes are basic machine tools for manufacturing cylindrical parts. In recent years, the DLseries computer numerical control(CNC) heavy-duty horizontal lathes(HDHLs) have been widely used in the transportation, energy and aviation industries. High availability of the CNC heavy-duty lathes is demanded to guarantee the efficiency and benefit of these manufacturing industries. As one of the key subsystems of the HDHLs, the feeding control system is studied in this paper on reliability modeling and reliability analysis. The fault tree analysis(FTA) method is used for reliability modelling of the feeding control system. Considering the multiple common cause failure groups(CCFGs) existing in the system, a modified beta factor parametric model is introduced to model the common cause failure(CCF) in system. The reliability of feeding control system is then obtained and the effect of CCF on the reliability of the whole system is studied as well.
基金supported by the National Natural Science Foundation of China under Grant Nos. 60674022, 60736022 and 60821091
文摘Control invariant sets play a key role in model predictive control.Using Lyapunov function,a technique is proposed to design control invariant sets of planar systems in a precise form.First,itis designed for a linear system in Brunovsky canonical form.Then,the result is extended to generallinear systems.Finally,the nonlinear control systems are considered,and some sufficient conditionsand design techniques are also obtained.Numerical examples are presented to illustrate the proposeddesign methods.
