In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (e,g., asymptotical stability) and reducing the control e...In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (e,g., asymptotical stability) and reducing the control effort. By introducing a new reseating transformation, adopting an effective reduced-order observer, and choosing an ingenious Lyapunov function and appropriate design parameters, this paper designs all improved output-feedback controller. The output-feedback controller guarantees the globally asymptotieal stability of the closed-loop system. Subsequently, taking a concrete system for an example, the smaller critical values for gain parameter and resealing transformation parameter are obtained to effectively reduce the control effort.展开更多
The problem of finite-time stabilization for uncertain nonlinear systems is investigated.It is proved that a class of high-order nonlinear systems in the lower-triangular form is globally stabilized via non-Lipschitz ...The problem of finite-time stabilization for uncertain nonlinear systems is investigated.It is proved that a class of high-order nonlinear systems in the lower-triangular form is globally stabilized via non-Lipschitz continuous state feedback.By using the finite-time Lyapunov stability theorem and the method of non-smooth feedback design,a recursive design procedure is provided,which guarantees the finite-time stability of the closed-loop system.The simulation results show the effectiveness of the theoretical results.展开更多
In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization...In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization is investigated for the first time. Under some weaker assumptions, a smooth state feedback controller is designed, which ensures that the closed-loop system has an almost surely unique solution on [0,∞), the equilibrium at the origin of the closed-loop system is globally asymptotically stable in probability, and all the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme.展开更多
This work presents the mathematical framework of the “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N),” which generalizes and extends all...This work presents the mathematical framework of the “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N),” which generalizes and extends all of the previous works performed to date on this subject. The 5<sup>th</sup>-CASAM-N enables the exact and efficient computation of all sensitivities, up to and including fifth-order, of model responses to uncertain model parameters and uncertain boundaries of the system’s domain of definition, thus enabling, inter alia, the quantification of uncertainties stemming from manufacturing tolerances. The 5<sup>th</sup>-CASAM-N provides a fundamental step towards overcoming the curse of dimensionality in sensitivity and uncertainty analysis.展开更多
In this paper, iterative learning control (ILC) design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models (HOLM). An HOlM formulated as...In this paper, iterative learning control (ILC) design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models (HOLM). An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.展开更多
In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is ...In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.展开更多
The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors' posit...The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors' positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.展开更多
In this paper, we investigate the problem of global stabilization for a general class of high-order and non-smoothly stabilizable nonlinear systems with both lower-order and higher-order growth conditions. The designe...In this paper, we investigate the problem of global stabilization for a general class of high-order and non-smoothly stabilizable nonlinear systems with both lower-order and higher-order growth conditions. The designed continuous state feedback controller is recursively constructed to guarantee the global strong stabilization of the closed-loop system.展开更多
In this paper, the periodic initial value problem for the following class of nonlinear Schrodinger equation of high order i partial derivative u/partial derivative t + (-1)(m) partial derivative(m)/partial derivative ...In this paper, the periodic initial value problem for the following class of nonlinear Schrodinger equation of high order i partial derivative u/partial derivative t + (-1)(m) partial derivative(m)/partial derivative x(m) (a(x)partial derivative(m)u/partial derivative x(m)) + beta(x)q(\u\(2))u + f(x, t)u = g(x, t) is considered. A leap-frog finite difference scheme is given, and convergence and stability is proved. Finally, it is shown by a numerical example that numerical result is coincident with theoretical result.展开更多
基金Supported by National Natural Science Foundation of China(60774010 10971256) Natural Science Foundation of Jiangsu Province(BK2009083)+1 种基金 Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province(07KJB510114) Shandong Provincial Natural Science Foundation of China(ZR2009GM008 ZR2009AL014)
基金Supported by National Natural Science Foundation of China (60774010), Program for New Century Excellent Talents in University of China (NCET-05-0607), Program for Summit of Six Types of Talents of Jiangsu Province (07-A-020), and Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province (07KJB510114)
文摘适应州反馈的稳定为在的高顺序的随机的非线性的系统的一个类被调查函数 fi 的上面的界限(?? 铄吗??
基金supported by National Natural Science Founda-tion of China (No. 60774010)Natural Science Foundation of JiangsuProvince, Jiangsu "Six Top Talents" (No. 07-A-020)+1 种基金Program for Fundamental Research of Natural Sciences in Universities of JiangsuProvince (No. 07KJB510114)Natural Science Foundation ofXuzhou Normal University (No. 08XLB20)
文摘In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (e,g., asymptotical stability) and reducing the control effort. By introducing a new reseating transformation, adopting an effective reduced-order observer, and choosing an ingenious Lyapunov function and appropriate design parameters, this paper designs all improved output-feedback controller. The output-feedback controller guarantees the globally asymptotieal stability of the closed-loop system. Subsequently, taking a concrete system for an example, the smaller critical values for gain parameter and resealing transformation parameter are obtained to effectively reduce the control effort.
基金Supported by Program for New Century Excellent Talents in University of China (NCET-05-0607), National Natural Science Foundation of China (60774010), Program for Summit of Six Types of Talents of Jiangsu Province (07-A-020), Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province (07KJB510114)
基金Sponsored by the National Natural Science Foundation of China (Grant No. 61174001)
文摘The problem of finite-time stabilization for uncertain nonlinear systems is investigated.It is proved that a class of high-order nonlinear systems in the lower-triangular form is globally stabilized via non-Lipschitz continuous state feedback.By using the finite-time Lyapunov stability theorem and the method of non-smooth feedback design,a recursive design procedure is provided,which guarantees the finite-time stability of the closed-loop system.The simulation results show the effectiveness of the theoretical results.
基金Program for New Century Excellent Talents in University of China (NCET-05-0607)National Natural Science Fou-ndation of China (No.60774010)Project for Fundamental Research of Natural Sciences in Universities of Jingsu Province (No.07KJB510114)
文摘In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization is investigated for the first time. Under some weaker assumptions, a smooth state feedback controller is designed, which ensures that the closed-loop system has an almost surely unique solution on [0,∞), the equilibrium at the origin of the closed-loop system is globally asymptotically stable in probability, and all the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme.
文摘This work presents the mathematical framework of the “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N),” which generalizes and extends all of the previous works performed to date on this subject. The 5<sup>th</sup>-CASAM-N enables the exact and efficient computation of all sensitivities, up to and including fifth-order, of model responses to uncertain model parameters and uncertain boundaries of the system’s domain of definition, thus enabling, inter alia, the quantification of uncertainties stemming from manufacturing tolerances. The 5<sup>th</sup>-CASAM-N provides a fundamental step towards overcoming the curse of dimensionality in sensitivity and uncertainty analysis.
基金supported by the General Program (No.60774022)the State Key Program of National Natural Science Foundation of China(No.60834001)the State Key Laboratory of Rail Traffic Control and Safety,Beijing Jiaotong University (No.RCS2009ZT011)
文摘In this paper, iterative learning control (ILC) design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models (HOLM). An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.
基金supported by the National Natural Science Foundation of China under Grant No.61403343the China Postdoctoral Science Foundation funded project under Grant No.2015M580521
文摘In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.
基金supported by the National Natural Science Foundation of China(61074031)
文摘The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors' positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.
基金supported by National Natural Science Foundation of China (Nos. 61273125 and 61104222)Specialized Research Fund for the Doctoral Program of Higher Education (No. 20103705110002)+3 种基金Program for the Scientific Research Innovation Team in Colleges and Universities of Shandong ProvinceShandong Provincial Natural Science Foundation of China (No. ZR2012FM018)Natural Science Foundation of Jiangsu Province (No. BK2011205)Natural Science Foundation of Jiangsu Normal University(No. 11XLR08)
文摘In this paper, we investigate the problem of global stabilization for a general class of high-order and non-smoothly stabilizable nonlinear systems with both lower-order and higher-order growth conditions. The designed continuous state feedback controller is recursively constructed to guarantee the global strong stabilization of the closed-loop system.
文摘In this paper, the periodic initial value problem for the following class of nonlinear Schrodinger equation of high order i partial derivative u/partial derivative t + (-1)(m) partial derivative(m)/partial derivative x(m) (a(x)partial derivative(m)u/partial derivative x(m)) + beta(x)q(\u\(2))u + f(x, t)u = g(x, t) is considered. A leap-frog finite difference scheme is given, and convergence and stability is proved. Finally, it is shown by a numerical example that numerical result is coincident with theoretical result.