This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of...This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs.展开更多
In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of fu...In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.展开更多
In this paper, the nonlinear singular stabilization, H∞ control problem of systems with ordinary homogeneous properties is considered. At first, we discuss the stabilization problems of nonlinear systems with homogen...In this paper, the nonlinear singular stabilization, H∞ control problem of systems with ordinary homogeneous properties is considered. At first, we discuss the stabilization problems of nonlinear systems with homogeneous. Secondly, by vitue of Hamilton-Jacobi-Isaacs equations or inequalities, we solve regular H∞ of nonlinear systems with homogeneous properties. To overcome the H∞ problem of singular nonlinear system, we try to transform inputs of the singular nonlinear system into two parts： regular part input and singular part input. Following the previous results, we solve the singular nonlinear system H∞ control, we give the Lyapunov function and the state feedback controller of the singular nonlinear systems with homogeneous properties.展开更多
Nonlinear estimation problem is investigated in this paper. By extension of a linear H_∞estimation with corrector-predictor form to nonlinear cases, a new extended H_∞filter is proposed for time-varying discrete-tim...Nonlinear estimation problem is investigated in this paper. By extension of a linear H_∞estimation with corrector-predictor form to nonlinear cases, a new extended H_∞filter is proposed for time-varying discrete-time nonlinear systems. The new filter has a simple observer structure based on a local linearization model, and can be viewed as a general case of the extended Kalman filter (EKF). An example demonstrates that the new filter with a suitable-chosen prescribed H_∞bound performs better than the EKF.展开更多
In this work, the analysis of robust stability and design of robust H∞ output feedback controllers for a class of Lur'e systems with both time-delays and parameter uncertainties were studied. A robust H∞ output ...In this work, the analysis of robust stability and design of robust H∞ output feedback controllers for a class of Lur'e systems with both time-delays and parameter uncertainties were studied. A robust H∞ output feedback controller based on Linear Matrix Inequalities (LMIs) was developed to guarantee the robust stability and H∞ performance of the resultant closed-loop system. The presented design approach is based on the application of descriptor model transformation and Park's inequality for the bounding of cross terms and is expected to be less conservative compared to reported design methods. Finally, illustrative examples are advanced to demonstrate the superiority of the obtained method.展开更多
The China Spallation Neutron Source (CSNS) Rapid Cycling Synchrotron (RCS) is a high beam power proton accelerator.The task of RCS injection system is to inject the negative hydrogen ions coming from linac into RCS by...The China Spallation Neutron Source (CSNS) Rapid Cycling Synchrotron (RCS) is a high beam power proton accelerator.The task of RCS injection system is to inject the negative hydrogen ions coming from linac into RCS by stripping method.This power supply demands that its output pulse current falling edge be controlled by the program. The power supply uses the IGBT power amplifying method to generate the pulse current and makes it follow the setting waveform by the power supply's feedback control system.The tracking error is one of the important specifications of the power supply.To satisfy the tracking error less than 2%,the frequency of the IGBT topology requested is more than 400kHz.The IGBT topology is connected by the IGBT H bridges in series and parallel,and works in the phase shifted method to divide the current,the voltage and improve the equivalent frequency.High power,high frequency,fast speed response and optimal feedback control strategy are the key to the good performance of painting bumper magnets pulsed power supply.展开更多
文摘This paper considers the design problem of static output feedback H ∞ controllers for descriptor linear systems with linear matrix inequality (LMI) approach. Necessary and sufficient conditions for the existence of a static output feedback H ∞ controller are given in terms of LMIs. Furthermore, the design method of H ∞ controllers is provided using the solutions to the LMIs.
文摘In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.
基金Supported by the Education Department of Henan Province(200511517007)
文摘In this paper, the nonlinear singular stabilization, H∞ control problem of systems with ordinary homogeneous properties is considered. At first, we discuss the stabilization problems of nonlinear systems with homogeneous. Secondly, by vitue of Hamilton-Jacobi-Isaacs equations or inequalities, we solve regular H∞ of nonlinear systems with homogeneous properties. To overcome the H∞ problem of singular nonlinear system, we try to transform inputs of the singular nonlinear system into two parts： regular part input and singular part input. Following the previous results, we solve the singular nonlinear system H∞ control, we give the Lyapunov function and the state feedback controller of the singular nonlinear systems with homogeneous properties.
文摘Nonlinear estimation problem is investigated in this paper. By extension of a linear H_∞estimation with corrector-predictor form to nonlinear cases, a new extended H_∞filter is proposed for time-varying discrete-time nonlinear systems. The new filter has a simple observer structure based on a local linearization model, and can be viewed as a general case of the extended Kalman filter (EKF). An example demonstrates that the new filter with a suitable-chosen prescribed H_∞bound performs better than the EKF.
基金Project supported by the National Outstanding Young Science Foundation of China (No. 60025308)Teach and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of Ministry of Education, China
文摘In this work, the analysis of robust stability and design of robust H∞ output feedback controllers for a class of Lur'e systems with both time-delays and parameter uncertainties were studied. A robust H∞ output feedback controller based on Linear Matrix Inequalities (LMIs) was developed to guarantee the robust stability and H∞ performance of the resultant closed-loop system. The presented design approach is based on the application of descriptor model transformation and Park's inequality for the bounding of cross terms and is expected to be less conservative compared to reported design methods. Finally, illustrative examples are advanced to demonstrate the superiority of the obtained method.
文摘The China Spallation Neutron Source (CSNS) Rapid Cycling Synchrotron (RCS) is a high beam power proton accelerator.The task of RCS injection system is to inject the negative hydrogen ions coming from linac into RCS by stripping method.This power supply demands that its output pulse current falling edge be controlled by the program. The power supply uses the IGBT power amplifying method to generate the pulse current and makes it follow the setting waveform by the power supply's feedback control system.The tracking error is one of the important specifications of the power supply.To satisfy the tracking error less than 2%,the frequency of the IGBT topology requested is more than 400kHz.The IGBT topology is connected by the IGBT H bridges in series and parallel,and works in the phase shifted method to divide the current,the voltage and improve the equivalent frequency.High power,high frequency,fast speed response and optimal feedback control strategy are the key to the good performance of painting bumper magnets pulsed power supply.
