A neural-network-based robust control design is suggested for control of a class of nonlinear systems. The design ap- proach employs a neural network, whose activation functions satisfy the sector conditions, to appro...A neural-network-based robust control design is suggested for control of a class of nonlinear systems. The design ap- proach employs a neural network, whose activation functions satisfy the sector conditions, to approximate the nonlinear system. To improve the approximation performance and to account for the parameter perturbations during operation, a novel neural network model termed standard neural network model (SNNM) is proposed. If the uncertainty is bounded, the SNNM is called an interval SNNM (ISNNM). A state-feedback control law is designed for the nonlinear system modelled by an ISNNM such that the closed-loop system is globally, robustly, and asymptotically stable. The control design equations are shown to be a set of linear matrix inequalities (LMIs) that can be easily solved by available convex optimization algorithms. An example is given to illustrate the control design procedure, and the performance of the proposed approach is compared with that of a related method reported in literature.展开更多
An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning param...An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning parameter λ, which provides a trade-off between performance and robustness. Six different forms of process models were selected from literature to show the applicability of the present method. Performance of controller was calculated by ITAE and total variation TV and compared with recently published tuning rules. Undesirable overshoot was removed by using a set-point weighting parameter. Robustness was tested by introducing a perturbation into the various model parameters and closed-loop results show that the designed controller is robust in the case of model uncertainty. The proposed method shows an overall better closed-loop response as compared to other recently reported methods.展开更多
To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differen...To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.展开更多
The stability analysis and stabilization problems of the wireless networked control systems(WNCSs) with signal transmission deadbands were considered. The deadbands were respectively set up at the sensor to the contro...The stability analysis and stabilization problems of the wireless networked control systems(WNCSs) with signal transmission deadbands were considered. The deadbands were respectively set up at the sensor to the controller and the controller to the actor sides in the WNCS, which were used to reduce data transmission, furthermore, to decrease the network collision and node energy consumption. Under the consideration of time-varying delays and signal transmission deadbands, the model for the WNCS was presented. A novel Lyapunov functional which took full advantages of the network factors was exploited. Meanwhile, new stability analysis and stabilization conditions for the WNCS were proposed, which described the relationship of the delay bounds, the transmission deadband bounds and the system stability. Two examples were used to demonstrate the effectiveness of the proposed methods. The results show that the proposed approach can guarantee asymptotical stability of the system and reduce the data transmission effectively.展开更多
This paper presents the reason for instability of underground construction. In order to know failure mechanism during the whole construction process, a research framework of multi-scale based on experiments and numeri...This paper presents the reason for instability of underground construction. In order to know failure mechanism during the whole construction process, a research framework of multi-scale based on experiments and numerical analysis is established. Some promising aspects in the topics of stability control are also given in the paper.展开更多
Tilting the blade sections to the flow direction （blade sweep） would increase the operating range of an axial compressor due to modifications in the pressure and velocity fields on the suction surface. On the other ...Tilting the blade sections to the flow direction （blade sweep） would increase the operating range of an axial compressor due to modifications in the pressure and velocity fields on the suction surface. On the other hand, blade tip gap, though finite, has great influence on the performance of a turbomachine. The present paper investigates the combined effect of these two factors on various flow characteristics iu＇a low speed axial flow compressor. For this present study, nine computational domains were modeled; three rotor sweep configurations （0°, 20° and 30°）and for three different clearance levels for each rotor. Commercial CFD solver ANSYS CFX 11.0 is used for the simulations. Results indicated that tip chordline sweep is found to improve the stall margin of the compressor by modifying the suction surface boundary layer migration phenomenon. Diffusion Factor （DF） contours showed the severity of stalling with unswept rotor. For the swept rotors, the zones of high probable stall are less severe and they become less in size with increasing sweep. Increment in the tip gap is found to gradually affect the performance of unswept rotor, while the effect is very high for the two swept rotors for the earlier increments. As a minimum clearance is unavoidable, swept rotors suffer relatively higher deviation from the idealistic behavior than the unswept rotor due to tip clearance.展开更多
A generalized controller based on stability theory of singularly perturbed systems is proposed,to deal with the problem of bounded actuator inputs in robot trajectory tracking control.The saturation function with erro...A generalized controller based on stability theory of singularly perturbed systems is proposed,to deal with the problem of bounded actuator inputs in robot trajectory tracking control.The saturation function with error-gain matrix is applied in the torque control law,which ensures the upper bound of torque inputs in any given limited range.Through appropriately setting the entries of the error-gain matrix,the tracking performance can be improved.Moreover,a pseudo signal is generated from a linear filter to substitute for the actual velocity error,eliminating the need for velocity measurements.Finally,to verify the ef-fectiveness of the generalized controller,a new saturated controller with error-gain-contained arc tangent function is designed.Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors,and gives a better tracking result than other controllers.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 60504024), and Zhejiang Provincial Education Depart-ment (No. 20050905), China
文摘A neural-network-based robust control design is suggested for control of a class of nonlinear systems. The design ap- proach employs a neural network, whose activation functions satisfy the sector conditions, to approximate the nonlinear system. To improve the approximation performance and to account for the parameter perturbations during operation, a novel neural network model termed standard neural network model (SNNM) is proposed. If the uncertainty is bounded, the SNNM is called an interval SNNM (ISNNM). A state-feedback control law is designed for the nonlinear system modelled by an ISNNM such that the closed-loop system is globally, robustly, and asymptotically stable. The control design equations are shown to be a set of linear matrix inequalities (LMIs) that can be easily solved by available convex optimization algorithms. An example is given to illustrate the control design procedure, and the performance of the proposed approach is compared with that of a related method reported in literature.
基金India (MHRD, India) for providing financial support
文摘An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning parameter λ, which provides a trade-off between performance and robustness. Six different forms of process models were selected from literature to show the applicability of the present method. Performance of controller was calculated by ITAE and total variation TV and compared with recently published tuning rules. Undesirable overshoot was removed by using a set-point weighting parameter. Robustness was tested by introducing a perturbation into the various model parameters and closed-loop results show that the designed controller is robust in the case of model uncertainty. The proposed method shows an overall better closed-loop response as compared to other recently reported methods.
基金Supported by Scientific and Technological Project of Chongqing (CSTC2009AC6051)
文摘To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.
基金Project(61104106)supported by the National Natural Science Foundation of ChinaProject(201202156)supported by the Natural Science Foundation of Liaoning Province,ChinaProject(LJQ2012100)supported by the Program for Liaoning Excellent Talents in University(LNET),China
文摘The stability analysis and stabilization problems of the wireless networked control systems(WNCSs) with signal transmission deadbands were considered. The deadbands were respectively set up at the sensor to the controller and the controller to the actor sides in the WNCS, which were used to reduce data transmission, furthermore, to decrease the network collision and node energy consumption. Under the consideration of time-varying delays and signal transmission deadbands, the model for the WNCS was presented. A novel Lyapunov functional which took full advantages of the network factors was exploited. Meanwhile, new stability analysis and stabilization conditions for the WNCS were proposed, which described the relationship of the delay bounds, the transmission deadband bounds and the system stability. Two examples were used to demonstrate the effectiveness of the proposed methods. The results show that the proposed approach can guarantee asymptotical stability of the system and reduce the data transmission effectively.
基金National Basic Research Program of China(No.2007CB714001)National Natural Science Foundation of China(No.50878193)New century Excellent Talents in University(NCET-08-0491)
文摘This paper presents the reason for instability of underground construction. In order to know failure mechanism during the whole construction process, a research framework of multi-scale based on experiments and numerical analysis is established. Some promising aspects in the topics of stability control are also given in the paper.
文摘Tilting the blade sections to the flow direction （blade sweep） would increase the operating range of an axial compressor due to modifications in the pressure and velocity fields on the suction surface. On the other hand, blade tip gap, though finite, has great influence on the performance of a turbomachine. The present paper investigates the combined effect of these two factors on various flow characteristics iu＇a low speed axial flow compressor. For this present study, nine computational domains were modeled; three rotor sweep configurations （0°, 20° and 30°）and for three different clearance levels for each rotor. Commercial CFD solver ANSYS CFX 11.0 is used for the simulations. Results indicated that tip chordline sweep is found to improve the stall margin of the compressor by modifying the suction surface boundary layer migration phenomenon. Diffusion Factor （DF） contours showed the severity of stalling with unswept rotor. For the swept rotors, the zones of high probable stall are less severe and they become less in size with increasing sweep. Increment in the tip gap is found to gradually affect the performance of unswept rotor, while the effect is very high for the two swept rotors for the earlier increments. As a minimum clearance is unavoidable, swept rotors suffer relatively higher deviation from the idealistic behavior than the unswept rotor due to tip clearance.
基金Project(No.2008C21106)supported by the Zhejiang Provincial Science and Technology Foundation of China
文摘A generalized controller based on stability theory of singularly perturbed systems is proposed,to deal with the problem of bounded actuator inputs in robot trajectory tracking control.The saturation function with error-gain matrix is applied in the torque control law,which ensures the upper bound of torque inputs in any given limited range.Through appropriately setting the entries of the error-gain matrix,the tracking performance can be improved.Moreover,a pseudo signal is generated from a linear filter to substitute for the actual velocity error,eliminating the need for velocity measurements.Finally,to verify the ef-fectiveness of the generalized controller,a new saturated controller with error-gain-contained arc tangent function is designed.Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors,and gives a better tracking result than other controllers.
