为快速、准确地观测系统中的未知扰动及状态,提出一种有限时间线性扩张状态观测器(Finite-time linear extended state observer,FT-LESO),它具有期望的收敛性能且结构简单、易于设计.假设系统的状态无法量测,观测器设计问题转化为扰动...为快速、准确地观测系统中的未知扰动及状态,提出一种有限时间线性扩张状态观测器(Finite-time linear extended state observer,FT-LESO),它具有期望的收敛性能且结构简单、易于设计.假设系统的状态无法量测,观测器设计问题转化为扰动下的输出反馈控制问题.针对该问题,提出一种扰动下的有限时间线性输出反馈控制方法,得到控制器参数与闭环系统状态向量2-范数间的解析关系.在此基础上,提出有限时间线性扩张状态观测器,得到观测器参数与观测误差收敛速度及稳态观测误差间的解析关系,给出一充分条件保证观测误差有限时间有界、且能以不低于指数收敛的速度收敛到给定范围内,为观测器参数设计提供理论依据.通过数值仿真验证提出的观测器,仿真结果与理论分析相符,提出的观测器是有效的.展开更多
To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D...To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D)Givone–Roessor(GR)model for state-space representation—that is,we established a local state-space model with the 3D position and one-dimensional time coordi-nates to describe the system.First,we extended the original elementary operation approach to a 4D condition and proposed the implementation steps of the realiza-tion matrix of the 4D GR model.Then,we described the working process of a true 3D display system,analyzed its real-time performance,introduced the fixed-point quantization model to simplify the system matrix,and derived the conditions for the global asymptotic stability of the system after quantization.Finally,we provided an example to prove the true 3D display system’s feasibility by simulation.The GR-model-representation method and its implementation steps proposed in this paper simplified the system’s mathematical expression and facilitated the microcon-troller software implementation.Real-time and stability analyses can be used widely to analyze and design true 3D display systems.展开更多
The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the sta...The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the stability analysis of parallel FP ＋ FI ＋ FD controller. The famous＂small gain theorem＂ is used to study the bounded-input and bounded-output （BIBO） stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP ＋ FI ＋ FD controller. FP ＋ FI ＋ FD controller is derived from the conventional parallel proportional plus integral plus derivative （PID） controller. The parallel FP ＋ FI ＋ FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller.展开更多
文摘为快速、准确地观测系统中的未知扰动及状态,提出一种有限时间线性扩张状态观测器(Finite-time linear extended state observer,FT-LESO),它具有期望的收敛性能且结构简单、易于设计.假设系统的状态无法量测,观测器设计问题转化为扰动下的输出反馈控制问题.针对该问题,提出一种扰动下的有限时间线性输出反馈控制方法,得到控制器参数与闭环系统状态向量2-范数间的解析关系.在此基础上,提出有限时间线性扩张状态观测器,得到观测器参数与观测误差收敛速度及稳态观测误差间的解析关系,给出一充分条件保证观测误差有限时间有界、且能以不低于指数收敛的速度收敛到给定范围内,为观测器参数设计提供理论依据.通过数值仿真验证提出的观测器,仿真结果与理论分析相符,提出的观测器是有效的.
基金This work was supported by the Key Research and Development Projects of Science and Technology Development Plan of Jilin Provincial Department of Science and Technology(20180201090gx).
文摘To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D)Givone–Roessor(GR)model for state-space representation—that is,we established a local state-space model with the 3D position and one-dimensional time coordi-nates to describe the system.First,we extended the original elementary operation approach to a 4D condition and proposed the implementation steps of the realiza-tion matrix of the 4D GR model.Then,we described the working process of a true 3D display system,analyzed its real-time performance,introduced the fixed-point quantization model to simplify the system matrix,and derived the conditions for the global asymptotic stability of the system after quantization.Finally,we provided an example to prove the true 3D display system’s feasibility by simulation.The GR-model-representation method and its implementation steps proposed in this paper simplified the system’s mathematical expression and facilitated the microcon-troller software implementation.Real-time and stability analyses can be used widely to analyze and design true 3D display systems.
文摘The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the stability analysis of parallel FP ＋ FI ＋ FD controller. The famous＂small gain theorem＂ is used to study the bounded-input and bounded-output （BIBO） stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP ＋ FI ＋ FD controller. FP ＋ FI ＋ FD controller is derived from the conventional parallel proportional plus integral plus derivative （PID） controller. The parallel FP ＋ FI ＋ FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller.
