Fixed-Time Stabilization of a Class of Strict-Feedback Nonlinear Systems via Dynamic Gain Feedback Control

This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two dynamic parameters.Specifically,a set of auxiliary variables is first introduced through state transformation.These variables combine the original system states and the two introduced dynamic parameters,facilitating the closed-loop system stability analyses.Then,the two dynamic parameters are delicately designed by utilizing the Lyapunov method,ensuring that all the closed-loop system states are globally fixed-time stable.Compared with existing results,the“explosion of complexity”problem of backstepping control is avoided.Moreover,the two designed dynamic parameters are dependent on system states rather than a time-varying function,thus the proposed controller is still valid beyond the given fixedtime convergence instant.The effectiveness of the proposed method is demonstrated through two practical systems.

Single-Stage Wide-Range CMOS VGA with Temperature Compensation and Linear-in-dB Gain Control

A novel wide-range CMOS variable gain amplifier （VGA） topology is presented. The proposed VGA is composed of a variable transconductor and a novel variable output resistor and can offer a high gain variation range of 80dB while using a single variable-gain stage. Temperature-compensation and decibel-linear gain characteristic are achieved by using a control circuit that provides a gain error lower than ±1.5dB over the full temperature and gain ranges. Realized in 0.25μm CMOS technology, a prototype of the proposed VGA provides a total gain range of 64.5dB with 55.6dB-linear range,a P-1dB varying from - 17.5 to 11.5dBm,and a 3dB-bandwith varying from 65 to 860MHz while dissipating 16.5mW from a 2.5V supply voltage.

Improved control of intelligent excavator using proportional-integral-plus gain scheduling

Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.

Missile robust gain scheduling autopilot design using full block multipliers

Reduction of conservatism is one of the key and difficult problems in missile robust gain scheduling autopilot design based on multipliers.This article presents a scheme of adopting linear parameter-varying（LPV） control approach with full block multipliers to design a missile robust gain scheduling autopilot in order to eliminate conservatism.A model matching design structure with a high demand on matching precision is constructed based on the missile linear fractional transformation（LFT） model.By applying full block S-procedure and elimination lemma,a convex feasibility problem with an infinite number of constraints is formulated to satisfy robust quadratic performance specifications.Then a grid method is adopted to transform the infinite-dimensional convex feasibility problem into a solvable finite-dimensional convex feasibility problem,based on which a gain scheduling controller with linear fractional dependence on the flight Mach number and altitude is derived.Static and dynamic simulation results show the effectiveness and feasibility of the proposed scheme.

STUDY ON GAIN-SCHEDULING PROBLEM IN FLIGHT CONTROL

Gain-scheduling has got its wide applications in modern flight control, in which control gains are scheduled with variables such as dynamic pressure and Mach number, to meet dynamic response requirements in different flight conditions. Classical gain-scheduling approaches may result in some problems, which can not guarantee global robustness and stability in transitions of different flight conditions. Gain-scheduling problem is systematically investigated from robustness point of view in the paper. Detailed procedures for gain-scheduled controller to achieve both robustness and stability performance are given and applied to a typical flight control system. For switching stability problems of different flight conditions in flight control systems, a new approach is proposed, in which different flight conditions are reduced into a parameter varying plant using interpolation firstly, and then parameter-varying controller design goes next. Though interpolation errors may exist, the robust parameter varying controller design can compensate for those uncertainties and errors, and finally achieve good performance of robustness and switching stability during transitions. Illustrative simulation at last shows satisfactory results.

Gain Scheduling Control of Nonlinear Shock Motion Based on Equilibrium Manifold Linearization Model

The equilibrium manifold linearization model of nonlinear shock motion is of higher accuracy and lower complexity over other models such as the small perturbation model and the piecewise-linear model. This paper analyzes the physical significance of the equilibrium manifold linearization model, and the self-feedback mechanism of shock motion is revealed. This helps to describe the stability and dynamics of shock motion. Based on the model, the paper puts forwards a gain scheduling control method for nonlinear shock motion. Simulation has shown the validity of the control scheme.

Compensation for secondary uncertainty in electro-hydraulic servo system by gain adaptive sliding mode variable structure control

Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system,adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employed to identify the primary uncertainty and the mathematic model of the system was turned into an equivalent linear model with terms of secondary uncertainty.At the same time,gain adaptive sliding mode variable structure control(GASMVSC) was employed to synthesize the control effort.The results show that the unrealization problem caused by some system's immeasurable state variables in traditional fuzzy neural networks(TFNN) taking all state variables as its inputs is overcome.On the other hand,the identification by the ADRFNNs online with high accuracy and the adaptive function of the correction term's gain in the GASMVSC make the system possess strong robustness and improved steady accuracy,and the chattering phenomenon of the control effort is also suppressed effectively.

Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431

The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.

CMOS Automatic Gain Control Circuit with DC Offset Cancellation for FM/cw Ladar

This paper presented an automatic gain control （AGC） circuit suitable for FM/cw ladar. The proposed architecture was based on two-stage variable gain amplifier （VGA） chain with a novel DC offset canceller circuit, which contained an improved Gilbert cell and a Gm-C feedback loop. To keep the VGA with a linearity in dB characteristic, an improved exponential gain control circuit was introduced. The AGC was implemented in 0.18 gm standard CMOS process. Simulation and measurement results verified that its gain ranged from -20 dB to 30 dB, and band- width ranged from 100 kHz to 10 MHz. Its power consumption was 19.8 mW under a voltage supply of 3.3 V.

Nonlinear Modelling of Automatic Gain Control Loops Considering Loop Dynamics and Stability

This work presents modelling aspects of automatic gain control （AGC） loops based on linear-in-dB variable gain amplifiers （VGAs）. In these loops, the VGA control voltage is also an excellent received signal strength indicator （RSSI）. The VGA gain is however nonlinearly related to the control voltage. Moreover, VGAs and detectors undergo nonlinear compression under high input amplitudes during settling transients. The main contribution in this work is a proposed nonlinear model based on simple and readily available components from the ＂analogLib＂ and ＂functional＂ libraries in CADENCE design environment -making it very easy and fast to build and simulate-that captures the nonlinear effects of AGC loops. The model is capable of verifying the AGC loop stability and capturing the loop dynamics with high accuracy compared to time consuming circuit level simulations. This provides insights into system level parameters such as AGC loop bandwidth, phase margin, settling time as well as estimating the AGC range and RSSI voltage vs. input power. Measurement results from a fabricated AGC prototype are in good agreement with simulation and modelling results thus validating the proposed modelling approach.

Experimental full-duplex amplify-and-forward relay scheme for OFDM with power gain control

The fundamental challenges for full-duplex(FD)relay networks are the self-interference cancellation(SIC)and the cooperative transmission design at the relay.This paper presents a practical amplify-and-forward(AF)FD one-way relay scheme for orthogonal frequency division multiplexing(OFDM)transmission with multi-domain SIC.It is found that the residual self-interference(SI)signals at the relay can be regarded as an equivalent multipath model.The effects of the residual sI at the relay are incorporated into the equivalent end-to-end channel model,and the inter-block interference can be removed at the destination by using cyclic prefix(CP)protection.Based on the equivalent multipath model,we present a solution for optimizing the amplification factor on the performance of signal-to-interference-plus-noise ratio(SINR)when the equivalent multipath length is longer than the CP.Furthermore,a practical one way FD relay network with 3 nodes is built and measured.The simulation and measured results verify the superior performance of the proposed scheme.

Design and implementation of digital closed-loop drive control system of a MEMS gyroscope

In order to effectively control the working state of the gyroscope in drive mode, the drive characteristics of the micro electromechanical system （MEMS） gyroscope are analyzed in principle. A novel drive circuit for the MEMS gyroscope in digital closed-loop control is proposed, which utilizes a digital phase-locked loop （PLL） in frequency control and an automatic gain control （AGC） method in amplitude control. A digital processing circuit with a field programmable gate array （FPGA） is designed and the experiments are carried out. The results indicate that when the temperature changes, the drive frequency can automatically track the resonant frequency of gyroscope in drive mode and that of the oscillating amplitude holds at a set value. And at room temperature, the relative deviation of the drive frequency is 0.624 ×10^-6 and the oscillating amplitude is 8.0 ×10^-6, which are 0. 094% and 18. 39% of the analog control program, respectively. Therefore, the control solution of the digital PLL in frequency and the AGC in amplitude is feasible.

Sliding mode control for mobile welding robot

The sliding mode controller of mobile welding robot is established in this paper through applying the method of variable structure control with sliding mode into the control of the mobile welding robot. The traditional switching function smooth method is improved by combining the smoothed switching function with the time-varying control gain. It is shown that the proposed sliding mode controller is robust to bounded external disturbances. Experimental results demonstrate that sliding mode controller algorithm can be used into seam tracking and the tracking system is stable with bounded uncertain disturbance. In the seam tracking process, the robot moves steadily without any obvious chattering.

A fast-locking bang-bang phase-locked loop with adaptive loop gain controller

This paper proposes a fast-locking bang-bang phase-locked loop（BBPLL）. A novel adaptive loop gain controller（ALGC） is proposed to increase the locking speed of the BBPLL. A novel bang-bang phase/frequency detector（BBPFD） with adaptive-mode-selective circuits is proposed to select the locking mode of the BBPLL during the locking process. Based on the detected results of the BBPFD, the ALGC can dynamically adjust the overall gain of the loop for fast-locking procedure. Compared with the conventional BBPFD, only a few gates are added in the proposed BBPFD. Therefore, the proposed BBPFD with adaptive-mode-selective circuits is realized with little area and power penalties. The fast-locking BBPLL is implemented in a 65 nm CMOS technology. The core area of the BBPLL is 0.022 mm;. Measured results show that the BBPLL operates at a frequency range from0.6 to 2.4 GHz. When operating at 1.8 GHz, the power consumption is 3.1 mW with a 0.9-V supply voltage. With the proposed techniques, the BBPLL achieves a normalized locked time of 1.1μs @ 100 MHz frequency jump.The figure-of-merit of the fast-locking BBPLL is-334 dB.

Response characteristics of sonar receiver under intense sound pulse

For anti-jamming and anti-countermeasure techniques of the sonar receiver, the response characteristics of the automatic gain control （AGC） circuit and the survivability of the prime circuit under strong interference are analyzed by simulations and experiments. An AGC simulation model based on the voltage control amplifier VCA810 prototype is proposed. Then static and dynamic simulations are realized with single frequency signal and linear frequency modulated （LFM） signal commonly used in the active sonar. Based on intense sound pulse （ISP） interference experiments, the real-time response characteristics of each module of the receiver are studied to verify the correctness of the model as well as the simulation results. Simulation and experiment results show that, under 252 dB/20 μs ISP interference, the specific sonar receiver will produce sustained cut top oscillation above 30 ms, which may affect the receiver and block the regular sonar signal.

Design of a 6.25 Gbps backplane SerDes with adaptive decision feedback equalization

A 6.25 Gbps SerDes core used in the high signed based on the OIF-CEI-02.0 standard. To speed backplane communication receiver has been decounteract the serious Inter-Syrmbol-Interference （ISI）, the core employed a half-rate four-tap decision feedback equalizer （DFE）. The equalizer used the Signsign least mean-squared （SS-LMS） algorithm to realize the coefficient adaptation. An automatic gain control （AGC） amplifier with the sign least mean-squared （S-LMS） algorithm has been used to compensate the transmission media loss. To recover the clock signal from the input data serial and provide for the DFE and AGC, a bang-bang clock recovery （BB-CR） is adopted. A third order phase loop loek （PLL） model was proposed to predict characteristics of the BB-CR. The core has been verified by behavioral modeling in MATLAB. The results indicate that the core can meet the specifications of the backplane receiver. The DFE recovered data over a 34＂ FR-4 backplane has a peak-to-peak jitter of 17 ps, a horizontal eye opening of 0.87 UI, and a vertical eye opening of 500 mVpp.

Application of difference arithmetic in the continuous annealing process line cooling control at Baosteel

Some of the main cooling processes and equipment that are currently being used in the continuous annealing process line （CAPL） at Baosteel are introduced, as well as their cooling control model techniques, the modeling principium and their application results. With charts indicating the control trends in real processes, the powerful adjusting ability of the control models with process variable differences and their excellent control precision are shown in this study.

Motion stability and control of supercavitating vehicle with variable cavitation number

Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.

Switched-mode AGC circuits with internally created reset module for burst-mode unbalanced data optical receiver

This paper presents an innovative switched-mode auto gain control （AGC） circuit with internally created reset module for DC-10Mb/s burst-mode unbalanced （BMU） optical data transmission. Conventional AGC circuit is inappropriate for BMU data transmission because it is based on average level detection and requires considerable time to settle on a predefined gain. Therefore, we adopt a fast switched-mode AGC based on peak level detection. After the gain is adjusted, the peak level detectors need to re-detect the peak level of the input signal. Thus, we develop an internally created reset module. This AGC with reset module exhibits a fast operation and achieves an adjusted stable gain within one-bit, avoiding any bit loss up to 10Mb/s data rate. During power-up, the peak level detectors possibly hold an uncertain level resulting in the bit-errors. We propose a power-up reset circuit to solve this problem. Designed in a 0.5μm CMOS technology, the circuit achieves an optical sensitivity of better than -30dBm and a wide dynamic range of over 30dB with a power dissipation of only 30 mW from a 5V supply.

A cascade model of information processing and encoding for retinal prosthesis

Retinal prosthesis offers a potential treatment for individuals suffering from photoreceptor degeneration diseases.Establishing biological retinal models and simulating how the biological retina convert incoming light signal into spike trains that can be properly decoded by the brain is a key issue.Some retinal models have been presented,ranking from structural models inspired by the layered architecture to functional models originated from a set of specific physiological phenomena.However,Most of these focus on stimulus image compression,edge detection and reconstruction,but do not generate spike trains corresponding to visual image.In this study,based on stateof-the-art retinal physiological mechanism,including effective visual information extraction,static nonlinear rectification of biological systems and neurons Poisson coding,a cascade model of the retina including the out plexiform layer for information processing and the inner plexiform layer for information encoding was brought forward,which integrates both anatomic connections and functional computations of retina.Using MATLAB software,spike trains corresponding to stimulus image were numerically computed by four steps：linear spatiotemporal filtering,static nonlinear rectification,radial sampling and then Poisson spike generation.The simulated results suggested that such a cascade model could recreate visual information processing and encoding functionalities of the retina,which is helpful in developing artificial retina for the retinally blind.