The two-dimensional(2-D)system has a wide range of applications in different fields,including satellite meteorological maps,process control,and digital filtering.Therefore,the research on the stability of 2-D systems ...The two-dimensional(2-D)system has a wide range of applications in different fields,including satellite meteorological maps,process control,and digital filtering.Therefore,the research on the stability of 2-D systems is of great significance.Considering that multiple systems exist in switching and alternating work in the actual production process,but the system itself often has external perturbation and interference.To solve the above problems,this paper investigates the output feedback robust H_(∞)stabilization for a class of discrete-time 2-D switched systems,which the Roesser model with uncertainties represents.First,sufficient conditions for exponential stability are derived via the average dwell time method,when the system’s interference and external input are zero.Furthermore,in the case of introducing the external interference,the weighted robust H_(∞)disturbance attenuation performance of the underlying system is further analyzed.An output feedback controller is then proposed to guarantee that the resulting closed-loop system is exponentially stable and has a prescribed disturbance attenuation levelγ.All theorems mentioned in the article will also be given in the form of linear matrix inequalities(LMI).Finally,a numerical example is given,which takes two uncertain values respectively and solves the output feedback controller’s parameters by the theorem proposed in the paper.According to the required controller parameter values,the validity of the theorem proposed in the article is compared and verified by simulation.展开更多
The problem of robust H_∞ control for uncertain neutral stochastic systems with time-varying delay is discussed.The parameter uncertaintie is assumed to be time varying norm-bounded.First,the stochastic robust stabil...The problem of robust H_∞ control for uncertain neutral stochastic systems with time-varying delay is discussed.The parameter uncertaintie is assumed to be time varying norm-bounded.First,the stochastic robust stabilization of the stochastic system without disturbance input is investigated by nonlinear matrix inequality method.Then,a full-order stochastic dynamic output feedback controller is designed by solving a bilinear matrix inequality（BMI）,which ensures a prescribed stochastic robust H_∞ performance level for the resulting closed-loop system with nonzero disturbance input and for all admissible uncertainties.An illustrative example is provided to show the feasibility of the controller and the potential of the proposed technique.展开更多
A robustness-tracking control scheme based on combining H_∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking ...A robustness-tracking control scheme based on combining H_∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H_∞ robustness controller suppresses the disturbances well within the close loop(including the load and the end effect force of linear motor etc.) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.展开更多
T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuz...T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy model.This control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic balance.It is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot.From these works,we showed the satisfactory performance of joint tracking without any chattering.展开更多
The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization preci...The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization precision of the ISP under disturbance uncertainty,a robust H∞controller is designed in this paper.Then,the reduction order is carried out for high-order controllers generated by the robust H∞loop shaping control method.The application of the minimum implementation and balanced truncation algorithm in controller reduction is discussed.First,the principle of reduced order of minimum implementation and balanced truncation are analyzed.Then,the method is used to reduce the order of the high-order robust H∞loop shaping controller.Finally,the method is analyzed and verified by the simulations and experiments.The results show that by the reduced-order method of minimum implementation and balanced truncation,the stabilization precision of the robust H∞loop shaping controller is increased by about 10%.展开更多
基金Research supported by the Science and Technology Development Program of Jilin Province,the project named:Research on Key Technologies of Intelligent Virtual Interactive 3D Display System(20180201090GX).
文摘The two-dimensional(2-D)system has a wide range of applications in different fields,including satellite meteorological maps,process control,and digital filtering.Therefore,the research on the stability of 2-D systems is of great significance.Considering that multiple systems exist in switching and alternating work in the actual production process,but the system itself often has external perturbation and interference.To solve the above problems,this paper investigates the output feedback robust H_(∞)stabilization for a class of discrete-time 2-D switched systems,which the Roesser model with uncertainties represents.First,sufficient conditions for exponential stability are derived via the average dwell time method,when the system’s interference and external input are zero.Furthermore,in the case of introducing the external interference,the weighted robust H_(∞)disturbance attenuation performance of the underlying system is further analyzed.An output feedback controller is then proposed to guarantee that the resulting closed-loop system is exponentially stable and has a prescribed disturbance attenuation levelγ.All theorems mentioned in the article will also be given in the form of linear matrix inequalities(LMI).Finally,a numerical example is given,which takes two uncertain values respectively and solves the output feedback controller’s parameters by the theorem proposed in the paper.According to the required controller parameter values,the validity of the theorem proposed in the article is compared and verified by simulation.
基金supported by the National Natural Science Foundation of China(607404306646087403160904060)
文摘The problem of robust H_∞ control for uncertain neutral stochastic systems with time-varying delay is discussed.The parameter uncertaintie is assumed to be time varying norm-bounded.First,the stochastic robust stabilization of the stochastic system without disturbance input is investigated by nonlinear matrix inequality method.Then,a full-order stochastic dynamic output feedback controller is designed by solving a bilinear matrix inequality（BMI）,which ensures a prescribed stochastic robust H_∞ performance level for the resulting closed-loop system with nonzero disturbance input and for all admissible uncertainties.An illustrative example is provided to show the feasibility of the controller and the potential of the proposed technique.
文摘A robustness-tracking control scheme based on combining H_∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H_∞ robustness controller suppresses the disturbances well within the close loop(including the load and the end effect force of linear motor etc.) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.
文摘T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain system.Based on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy model.This control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic balance.It is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped robot.From these works,we showed the satisfactory performance of joint tracking without any chattering.
基金supported in part by the Beijing Natural Science Foundation(Grant No.3182021)National Natural Science Foundation of China(Grant No.51775017)+1 种基金Research Project of Beijing Academy of Quantum Information Sciences(Grant No.Y18G30)the Open Research Fund of the State Key Laboratory for Manufacturing Systems Engineering(Grant No.sklms2018005)
文摘The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization precision of the ISP under disturbance uncertainty,a robust H∞controller is designed in this paper.Then,the reduction order is carried out for high-order controllers generated by the robust H∞loop shaping control method.The application of the minimum implementation and balanced truncation algorithm in controller reduction is discussed.First,the principle of reduced order of minimum implementation and balanced truncation are analyzed.Then,the method is used to reduce the order of the high-order robust H∞loop shaping controller.Finally,the method is analyzed and verified by the simulations and experiments.The results show that by the reduced-order method of minimum implementation and balanced truncation,the stabilization precision of the robust H∞loop shaping controller is increased by about 10%.
