Robust output regulation problem with prescribed performance for nonlinear strict feedback systems

This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems.By employing the internal model principle,the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint.Then,by constructing the speed function and adopting barrier Lyapunov function technique,the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time,but also to achieve that the error output converges to zero asymptotically.The effectiveness of the results is illustrated by a simulation example.

PID-type fault-tolerant prescribed performance control of fixed-wing UAV

This paper introduces a fault-tolerant control(FTC)design for a faulty fixed-wing unmanned aerial vehicle(UAV).To constrain tracking errors against actuator faults,error constraint inequalities are first transformed to a new set of variables based on prescribed performance functions.Then,the commonly used and powerful proportional-integral-derivative(PID)control concept is employed to filter the transformed error variables.To handle the fault-induced nonlinear terms,a composite learning algorithm consisting of neural network and disturbance observer is incorporated for increasing flight safety.It is shown by Lyapunov stability analysis that the tracking errors are strictly constrained within the specified error bounds.Experimental results are presented to verify the feasibility of the developed FTC scheme.

Accurate performance estimators for information retrieval based on span bound of support vector machines

Support vector machines have met with significant success in the information retrieval field, especially in handling text classification tasks. Although various performance estimators for SVMs have been proposed, these only focus on accuracy which is based on the leave-one-out cross validation procedure. Information-retrieval-related performance measures are always neglected in a kernel learning methodology. In this paper, we have proposed a set of information-retrieval-oriented performance estimators for SVMs, which are based on the span bound of the leave-one-out procedure. Experiments have proven that our proposed estimators are both effective and stable.

The optimal semi-analytical modeling for the infinite-conductivity horizontal well performance under rectangular bounded reservoir based on a new instantaneous source function

The main objective of this study is to develop the optimal semi-analytical modeling for the infiniteconductivity horizontal well performance under rectangular bounded reservoir based on a new instantaneous source function.The available semi-analytical infinite-conductivity models(ICMs)for horizontal well under rectangular bounded reservoir in literature were developed by applying superposition of pressures in space(SPS).A new instantaneous source function(i.e.,instantaneous uniform-flux segmentary source function under bounded reservoir)is derived to be used instead of SPS to develop the optimal semi-analytical ICM.The new semi-analytical ICM is verified with ICM of Schlumberger[1]and with previous semi-analytical ICMs in terms of bottom hole pressure(BHP)profile and inflow rate distribution along the wellbore.The model is also validated with real horizontal wells in terms of inflow rate distribution along the wellbore.The results show that the developed model gives the optimal semi-analytical modeling for the infinite-conductivity horizontal well performance under rectangular bounded reservoir.Besides that,high computationalefficiency and high-resolution of wellbore discretization have been achieved(i.e.,wellbore segment number could be tens of hundreds depending on solution requirement).The results also show that at pseudosteady state(PSS)flow regime,inflow rate distribution along the wellbore by previous semi-analytical ICMs is stabilized U-shaped as performance of inflow rate distribution at late radial flow regime.Therefore,the previous semi-analytical ICMs are incorrectly modeling inflow rate distribution at PSS flow regime due to the negative influence of applying SPS.The optimal semi-analytical ICM is in a general form and real time domain,and can be applicable for 3D horizontal well and 2D vertical fracture well under infinite and rectangular bounded reservoirs,of uniform-flux and infinite-conductivity wellbore conditions at any time of well life.

非线性系统无需初始条件预设性能有界H_(∞)容错控制

针对一类具有外部扰动和传感器故障的非线性系统,本文研究了其自适应预设性能有界H_(∞) 容错控制问题.本文提出一种新的预设性能控制设计方法,使得预设性能函数的选择与系统被约束变量的初始状态完全无关,用一种全新的方式解决了传统预设性能方法的控制效果依赖被约束变量初始条件的问题.基于该设计方法和有界H_(∞) 控制方法,在未知系统初始条件的情况下获得了系统的自适应预设性能有界H_(∞) 控制器.本文所设计的控制器能够保证系统中的所有信号都是有界稳定的,系统的输出变量能够被预设性能函数约束,并且对于外部干扰具有很好的抑制作用.最后,仿真结果验证了该控制器的可行性及有效性.

随机大系统的分散预设固定时间有界H_(∞)控制

针对具有未知非线性函数和不确定外部扰动的随机大系统,设计分散预设固定时间有界H_(∞)控制器.该文控制器能使大系统中各子系统的跟踪误差被预设有限时间性能函数约束,使各子系统的输出较好地跟踪参考信号,确保各子系统的所有信号均依概率固定时间有界稳定.该文控制器具有可行性.

收发未精确同步条件下非相关多运动辐射源TOAs/FOAs协同定位方法

在联合到达时间/到达频率的无线定位体制中,除了TOAs/FOAs(Time-Of-Arrivals/Frequency-Of-Arrivals)估计误差与传感器位置/速度先验观测误差以外,收发两端的传感器时钟同步误差也是影响定位精度的重要因素.为了抑制时钟同步误差和各类观测误差的影响,本文针对非相关多运动辐射源定位场景,提出一种基于加权多维标度分析的TOAs/FOAs多辐射源协同定位方法.文中首先通过构造两组标量积矩阵推导定位关系式,然后基于一阶误差分析方法得到该关系式中的误差渐近统计特性,并进而构建联合定位与时钟同步误差校正的优化准则.针对此优化模型,本文提出一种基于正交投影矩阵数学性质的参数解耦合优化算法,可实现对多运动辐射源位置/速度参数与同步误差参数的分步估计,显著降低了参与优化迭代的变量维数.此外,文中还在收发未精确同步条件下推导TOAs/FOAs多辐射源协同定位模型的克拉美罗界,定量证明多辐射源协同定位可以带来性能增益,并且利用一阶误差分析以及正交投影矩阵数学性质证明新方法的渐近统计最优性.仿真实验结果验证所提出的协同定位方法的优越性.

Shift-characteristics and bounds of thermal performance of organic Rankine cycle based on trapezoidal model

In consideration of the constraints of actual working fluids on theoretical study of organic Rankine cycle(ORC), a trapezoidal cycle(TPC) with theoretical model to simulate ORC was proposed in previous works. In this study, mathematical models of working fluids including model of simulated saturation curve(MSSC) and model of linear saturation lines(MLSL) are proposed and built. Combining mathematical models of working fluids and TPC, the thermodynamic characteristics and principles of TPC(or ORC) can be studied or predicted theoretically. There exists a shift-curve of net power output with corresponding shifttemperature of heating fluid for working fluids, which indicates the shift of net power output from having optimum condition of maximum power to monotonic increase with evaporation temperature. This shift-characteristic is significant to working fluid selection and evaluation of cycle performance, for it indicates that cycle without optimum condition can yield higher net power output than the cycle with optimum condition. Equations to calculate the shift-temperature in ORC(or TPC) are derived; and equations to calculate the highest optimal evaporation temperature and highest maximum power as the highest optimum condition at this shift-temperature are obtained. Based on TPC and its theoretical model, the lower and upper bounds of thermal performance(maximum power and corresponding thermal efficiency) of TPC(or ORC) can be demonstrated and acquired. TPC can develop to Carnot cycle or trilateral cycle that it is significant to use TPC as a generalized cycle to study the general principles and characteristics of the cycles.

Adaptive fault-tolerant control of heavy lift launch vehicle via differential algebraic observer

A novel adaptive fault-tolerant control scheme in the differential algebraic framework was proposed for attitude control of a heavy lift launch vehicle （HLLV）. By using purely mathematical transformations, the decoupled input-output representations of HLLV were derived, rendering three decoupled second-order systems, i.e., pitch, yaw and roll channels. Based on a new type of numerical differentiator, a differential algebraic observer （DAO） was proposed for estimating the system states and the generalized disturbances, including various disturbances and additive fault torques. Driven by DAOs, three improved proportional-integral- differential （PID） controllers with disturbance compensation were designed for pitch, yaw and roll control. All signals in the closed-loop system were guaranteed to be ultimately uniformly bounded by utilization of Lyapunov＇s indirect method. The convincing numerical simulations indicate that the proposed control scheme is successful in achieving high performance in the presence of parametric perturbations, external disturbances, noisy corruptions, and actuator faults.

Nonlinear control for global stabilization of multiple-integrator system by bounded controls

The global stabilization problem of the multiple-integrator system by bounded controls is considered. A nonlinear feedback law consisting of nested saturation functions is proposed. This type of nonlinear feedback law that is a modification and generalization of the result given in [1] needs only [（n ＋ 1）/2] （n is the dimensions of the system） saturation elements, which is fewer than that which the other nonlinear laws need. Furthermore, the poles of the closedloop system can be placed on any location on the left real axis when none of the saturation elements in the control laws is saturated. This type of nonlinear control law exhibits a simpler structure and can significantly improve the transient performances of the closed-loop system, and is very superior to the other existing methods. Simulation on a fourth-order system is used to validate the proposed method.

Fault-tolerant control systems design via subdivision of parameter region

This paper presents a linear matrix inequality （LMI） approach to solve the fault-tolerant control （FTC） problem of actuator faults. The range of actuator faults is considered as a parameter region and subdivided into several subregions to achieve a certain desired performance specification. Based on the integral quadratic constraint （IQC） approach, a passive fault-tolerant controller for the whole fault region and multiple fault-tolerant controllers for each fault subregion are designed for guaranteeing stability and improving performance of the FTC system, respectively. According to the estimation of parameters by FDI process, the corresponding subregion controller is chosen for the stability and optimal performance of closed-loop systems when the fault occurs. The case of incorrect estimation is also considered by comparing the performance index between the switched controller and the passive fault-tolerant controller. The proposed design technique is finally evaluated in the light of a simulation example.

Bounded space algorithms for variant of variable-sized bin packing

Given a list of items and a sequence of variable-sized bins arriving one by one, it is NP-hard to pack the items into the bin list with a goal to minimize the total size of bins from the earliest one to the last used. In this paper a set of approximation algorithms is presented for cases in which the ability to preview at most k（〉=2） arriving bins is given. With the essential assumption that all bin sizes are not less than the largest item size, analytical results show the asymptotic worst case ratios of all k-bounded space and offiine algorithms are 2. Based on experiments by applying algorithms to instances in which item sizes and bin sizes are drawn independently from the continuous uniform distribution respectively in the interval [0,u] and [u,l ], averagecase experimental results show that, with fixed k, algorithms with the Best Fit packing（closing） rule are statistically better than those with the First Fit packing（closing） rule.

Theoretical bounds on Fresnel compressive holography performance(Invited Paper)

During the last years the theory of compressive sensing has found significant utility in the digital holography realm. In this letter we summarize and extend our previous theoretical results which determine the relation between the number of Fresnel samples required on the object illumination type, illumination wavelength, imaging geometry and sensor＇s size and resolution.

On the Performability of Hierarchical Wireless Networked Control Systems

This paper investigates the performability of hierarchical Wireless Networked Control Systems (WNCS). The WNCS studied can operate in two modes: passive supervisor and active supervisor. It is first shown that the Markov models for both modes are identical. Performability models are then developed and a case study shows how to use these models to help make design decisions. More specifically, it is observed that the performability of a passive supervisor system increases in time while that of an active supervisor system decreases in time.

一种低截获背景下的集中式MIMO雷达快速功率分配算法

针对集中式MIMO雷达同时跟踪多批机动目标场景,该文提出一种低截获背景下的快速功率分配算法。首先,将目标机动过程建模为自适应当前统计(ACS)模型,并采用粒子滤波对各目标状态进行估计。其次,对条件克拉默-拉奥下界(PC-CRLB)进行推导,并基于目标运动特性和电磁特性构建目标综合威胁度评估模型。随后,将目标跟踪误差评估指数和雷达未被截获概率的加权和作为优化目标,建立了关于发射功率的优化模型,利用目标函数单调递减性质,提出了一种基于序列松弛的求解算法进行模型求解。最后,通过仿真验证所提算法的有效性和时效性。结果表明,所提算法能够有效提高目标跟踪精度和雷达系统低截获性能,相比采用内点法求解运算速度提高近50%。

太赫兹多天线移动通信性能界理论

为支持6G大容量移动通信场景需求,太赫兹通信呈现出从单天线、固定点对点通信到多天线、移动通信的演进趋势。太赫兹多天线移动通信的技术发展亟需理论研究的奠基与指导。为此,总结了太赫兹多天线移动通信硬件的现状,析出发展理论以指导释放硬件性能的必要性;分析了太赫兹多天线移动通信理论发展现状,分别面向太赫兹移动通信、太赫兹多天线通信、感知协同太赫兹通信的理论特征进行讨论,指出研究性能界理论的必要性;提出太赫兹多天线移动通信性能界理论,从性能界限、性能优化、性能折衷三方面进行了详细阐述;展望了太赫兹多天线移动通信性能界理论的发展方向。

Decentralized fault-tolerant cooperative control of multiple UAVs with prescribed attitude synchronization tracking performance under directed communication topology

In this paper, a decentralized fault-tolerant cooperative control scheme is developed for multiple unmanned aerial vehicles(UAVs) in the presence of actuator faults and a directed communication network. To counteract in-flight actuator faults and enhance formation flight safety, neural networks(NNs) are used to approximate unknown nonlinear terms due to the inherent nonlinearities in UAV models and the actuator loss of control effectiveness faults. To further compensate for NN approximation errors and actuator bias faults, the disturbance observer(DO) technique is incorporated into the control scheme to increase the composite approximation capability.Moreover, the prediction errors, which represent the approximation qualities of the states induced by NNs and DOs to the measured states, are integrated into the developed fault-tolerant cooperative control scheme. Furthermore,prescribed performance functions are imposed on the attitude synchronization tracking errors, to guarantee the prescribed synchronization tracking performance. One of the key features of the proposed strategy is that unknown terms due to the inherent nonlinearities in UAVs and actuator faults are compensated for by the composite approximators constructed by NNs, DOs, and prediction errors. Another key feature is that the attitude synchronization tracking errors are strictly constrained within the prescribed bounds. Finally, simulation results are provided and have demonstrated the effectiveness of the proposed control scheme.

水热改性对煤化工污泥束缚水性能的影响研究

为减量化、资源化利用污泥,对水热改性前后的煤制烯烃污泥进行分析,研究水热改性处理对污泥束缚水性能的影响。选取某煤制烯烃化工厂的化工污泥为研究对象,通过恒容升温水热的方法对污泥进行改性处理,并对改性前后污泥的黏度、毛细吸水时间、表观形貌和水分分布进行了研究。结果表明:经过水热改性后可得到流动性较好的污泥浆,其黏度和毛细吸水时间显著降低,在反应温度为200℃、反应停留时间为90 min时,达到最佳效果;改性污泥中微生物细胞破裂、絮体结构破坏,胞内水和间隙水转化为间隙水和自由水,改变了污泥的束缚水结构,提高了污泥的自由水含量,改善了污泥的脱水性能。

基于高效液相色谱-三重四极杆质谱联用方法评价透析器对蛋白结合类尿毒症毒素的清除效果

建立了一种评价透析器对硫酸吲哚酚、硫酸对甲酸和马尿酸3种蛋白结合类尿毒症毒素(PBUTs)清除效果的高效液相色谱-三重四极杆质谱联用方法。配制与透析患者体内PBUTs浓度相当的模拟液代替血液,进行透析模拟治疗,取透析前后的模拟液作为待测样品。样品经乙腈沉淀蛋白和超滤离心处理后,采用Hypersil GOLD VANQUISH C18(100 mm×2.1 mm,1.9μm)色谱柱分离,以5 mmol/L乙酸铵溶液和甲醇为流动相进行梯度洗脱,负离子选择反应监测(SRM)模式扫描,内标法进行定量分析。3种PBUTs在25~1 000 ng/mL范围内线性关系良好,相关系数(r)均大于0.99,定量下限为25 ng/mL;在75、250、750 ng/mL加标水平下,回收率为92.5%~114%,日内、日间相对标准偏差(RSD)均小于5.0%,基质效应为80.6%~105%。该方法成本低、前处理简单、分析速度快、回收率高,适用于透析器对PBUTs清除效果的评价。

非线性系统预设有限时间有界H_(∞)容错控制

针对一类具有外部扰动的严格反馈非线性系统,研究系统的预设有限时间有界H_(∞)容错控制问题,提出一个新的预设有限时间性能函数,进一步改进约束控制性能。结合反步法和有界H_(∞)设计思想,给出一种预设性能有限时间有界H_(∞)容错控制器设计方案,解决非线性系统在有界稳定情况下的H_(∞)控制设计问题。所设计的控制器能够保证跟踪误差,以预先设定的暂态和稳态性能在有限时间内收敛到平衡点附近的小邻域内,并且具有H_(∞)干扰抑制性能。仿真结果验证了所提方法的有效性。