研究了n比特随机量子系统实时状态估计及其反馈控制的问题.对于连续弱测量(Continuous weak measurement, CWM)过程存在高斯噪声的情况,基于在线交替方向乘子法(Online alternating direction multiplier method,OADM)推导出一种适用于...研究了n比特随机量子系统实时状态估计及其反馈控制的问题.对于连续弱测量(Continuous weak measurement, CWM)过程存在高斯噪声的情况,基于在线交替方向乘子法(Online alternating direction multiplier method,OADM)推导出一种适用于n比特随机量子系统的实时量子状态估计算法,即QSE-OADM (Quantum state estimation based on OADM).运用李雅普诺夫方法设计控制律,实现基于实时量子状态估计的反馈控制,并证明所提控制律的收敛性.以2比特随机量子系统为例进行数值仿真实验,通过与基于QST-OADM (Quantum state tomography based on OADM)算法和OPG-ADMM (Online proximal gradient-based alternating direction method of multipliers)算法的量子反馈控制方案的性能对比,验证了所提控制方案的优越性.展开更多
高压直流输电(HVDC)系统的附加控制器可以提高系统的暂态稳定性。本文针对交直流输电系统,应用控制李雅普诺夫函数理论(Control Lyapunov Function Theory)设计了直流系统附加控制器,首先建立输电系统数学模型,同时建立计及网络拓扑的...高压直流输电(HVDC)系统的附加控制器可以提高系统的暂态稳定性。本文针对交直流输电系统,应用控制李雅普诺夫函数理论(Control Lyapunov Function Theory)设计了直流系统附加控制器,首先建立输电系统数学模型,同时建立计及网络拓扑的系统结构保持能量函数,然后根据控制李雅普诺夫理论推导出提高系统暂态稳定的直流附加控制律。与常规直流附加控制相比,该控制器能够有效提高系统的暂态稳定性,仿真结果验证了设计附加控制器的正确性和有效性。展开更多
This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consis...This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.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
This paper deals with the robust stabilization problem for a class of nonlinear systems with structural uncertainty. Based on robust control Lyapunov function, a sufficient and necessary condition for a function to be...This paper deals with the robust stabilization problem for a class of nonlinear systems with structural uncertainty. Based on robust control Lyapunov function, a sufficient and necessary condition for a function to be a robust control Lyapunov function is given. From this condition, simply sufficient condition for the robust stabilization （robust practical stabilization） is deduced. Moreover, if the equilibrium of the closed-loop system is unique, the existence of such a robust control Lyapunnv function will also imply robustly globally asymptotical stabilization. Then a continuous state feedback law can be constructed explicitly. The simulation shows the effectiveness of the method.展开更多
This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel th...This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel the effects of the external disturbances. For the controlled nonlinear system,the authors prove the well-posedness by the maximal monotone operator theory and the variational principle. Further the authors prove that the controlled nonlinear system is exponential stable by constructing a suitable Lyapunov function. Finally, some numerical simulations are given to support these results.展开更多
文摘研究了n比特随机量子系统实时状态估计及其反馈控制的问题.对于连续弱测量(Continuous weak measurement, CWM)过程存在高斯噪声的情况,基于在线交替方向乘子法(Online alternating direction multiplier method,OADM)推导出一种适用于n比特随机量子系统的实时量子状态估计算法,即QSE-OADM (Quantum state estimation based on OADM).运用李雅普诺夫方法设计控制律,实现基于实时量子状态估计的反馈控制,并证明所提控制律的收敛性.以2比特随机量子系统为例进行数值仿真实验,通过与基于QST-OADM (Quantum state tomography based on OADM)算法和OPG-ADMM (Online proximal gradient-based alternating direction method of multipliers)算法的量子反馈控制方案的性能对比,验证了所提控制方案的优越性.
文摘高压直流输电(HVDC)系统的附加控制器可以提高系统的暂态稳定性。本文针对交直流输电系统,应用控制李雅普诺夫函数理论(Control Lyapunov Function Theory)设计了直流系统附加控制器,首先建立输电系统数学模型,同时建立计及网络拓扑的系统结构保持能量函数,然后根据控制李雅普诺夫理论推导出提高系统暂态稳定的直流附加控制律。与常规直流附加控制相比,该控制器能够有效提高系统的暂态稳定性,仿真结果验证了设计附加控制器的正确性和有效性。
基金Projects(51405008,51175015)supported by the National Natural Science Foundation of ChinaProject(2012AA110904)supported by the National High Technology Research and Development Program of China
文摘This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.
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Sponsored by the Natural Science Foundation of Zhejiang Province in China(Grant No. Y105141).
文摘This paper deals with the robust stabilization problem for a class of nonlinear systems with structural uncertainty. Based on robust control Lyapunov function, a sufficient and necessary condition for a function to be a robust control Lyapunov function is given. From this condition, simply sufficient condition for the robust stabilization （robust practical stabilization） is deduced. Moreover, if the equilibrium of the closed-loop system is unique, the existence of such a robust control Lyapunnv function will also imply robustly globally asymptotical stabilization. Then a continuous state feedback law can be constructed explicitly. The simulation shows the effectiveness of the method.
基金supported by the Natural Science Foundation of China under Grant Nos.61174080,61573252,and 61503275
文摘This paper studies the stabilization problem of an Euler-Bernoulli beam with a tip mass,which undergoes unknown but uniform bounded disturbance at tip mass. Here the nonlinear feedback control law is used to cancel the effects of the external disturbances. For the controlled nonlinear system,the authors prove the well-posedness by the maximal monotone operator theory and the variational principle. Further the authors prove that the controlled nonlinear system is exponential stable by constructing a suitable Lyapunov function. Finally, some numerical simulations are given to support these results.
