Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

Linear analysis of the dynamic response of a riser subject to internal solitary waves

The flow field induced by internal solitary waves(ISWs)is peculiar wherein water motion occurs in the whole water depth,and the strong shear near the pycnocline can be generated due to the opposite flow direction between the upper and lower layers,which is a potential threat to marine risers.In this paper,the flow field of ISWs is obtained with the Korteweg-de Vries(Kd V)equation for a two-layer fluid system.Then,a linear analysis is performed for the dynamic response of a riser with its two ends simply supported under the action of ISWs.The explicit expressions of the deflection and the moment of the riser are deduced based on the modal superposition method.The applicable conditions of the theoretical expressions are discussed.Through comparisons with the finite element simulations for nonlinear dynamic responses,it is proved that the theoretical expressions can roughly reveal the nonlinear dynamic response of risers under ISWs when the approximation for the linear analysis is relaxed to some extent.

Stability analysis for adaptive control using dynamic linearization

Discusses the stability of adaptive control using dynamic linearization and gives the sufficient condition for the stability of the closed loop system under the action of the adaptive control by using the small gain theory.

Linearization and analytic solution of fluid dynamics of cell two-phase flow

Linearized equations of fluid dynamics of cell two phase flow for one dimensional case are proposed. Based on the equations, an analytic solution is derived, in which the frequency of wave is observed. The frequency formula consists of all important parameters of the fluid dynamics. In our observation, the group velocity and phase velocity of the motion of wave propagation are explicitly exhibited as well.

Dynamic inverse control of feedback linearization in ballistic correction based on nose cone swinging

It is a complicated nonlinear controlling problem to conduct a two-dimensional trajectory correction of rockets.By establishing the aerodynamic correction force mathematical model of rockets on nose cone swinging,the linear control is realized by the dynamic inverse nonlinear controlling theory and the three-time-scale separation method.The control ability and the simulation results are also tested and verified.The results show that the output responses of system track the expected curve well and the error is controlled in a given margin.The maximum correction is about±314 m in the lengthwise direction and±1 212 m in the crosswise direction from the moment of 5 s to the drop-point time when the angle of fire is 55°.Thus,based on the dynamic inverse control of feedback linearization,the trajectory correction capability of nose cone swinging can satisfy the requirements of two-dimensional ballistic correction,and the validity and effectiveness of the method are proved.

DYNAMIC CHARACTERISTIC ANALY-SIS OF PRECISE LONG STROKE LINEAR MOTOR WITH AIR-BEARING IN OPTICAL LITHOGRAPHY

Dynamic characteristic is presented by identifying the model and the dynamic parameters of a precise long stroke linear motor （PLSLM） with the air-bearing in optical lithography. The PLSLM is supported by air-bearing on the stator, and is driven by on-board two large linear motors in a cross-configuration. Firstly, a model of the PLSLM is established by finite element method （FEM）. Secondly, based on the model, the natural frequencies and model shapes are discusse＆ And the contribution of each active mode is evaluated by computing the modal participation factors （MPF）, which indicates the major vibration direction. Furthermore, by the experimental modal analysis, the experimental results are in agreement with simulation results, which it is sure that the FEM is reasonable. What＇s more, comparing with the effects on the frequency due to the air-bearing stiffness, the relations of the natural frequencies with the air-bearing stiffness are found. It is found that the frequency response curve is fluctuant with the air-bearing stiffness in each direction. Finally, it is conclusion that the natural frequency of the PLSLM is largely affected by the air-bearing stiffness variety. This research is contributed to the dynamic characteristics resulted from the air-beating stiffness. Further work will include better optimization on the dynamic parameter in the controller design through the control algorithm for the precise long stroke motor.

SYNCHRONIZATION OF MASTER-SLAVE MARKOVIAN SWITCHING COMPLEX DYNAMICAL NETWORKS WITH TIME-VARYING DELAYS IN NONLINEAR FUNCTION VIA SLIDING MODE CONTROL

In this article, a synchronization problem for master-slave Markovian switching complex dynamical networks with time-varying delays in nonlinear function via sliding mode control is investigated. On the basis of the appropriate Lyapunov-Krasovskii functional, introducing some free weighting matrices, new synchronization criteria are derived in terms of linear matrix inequalities （LMIs）. Then, an integral sliding surface is designed to guarantee synchronization of master-slave Markovian switching complex dynamical networks, and the suitable controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. By using Dynkin＇s formula, we established the stochastic stablity of master-slave system. Finally, numerical example is provided to demonstrate the effectiveness of the obtained theoretical results.

The 3-Hour-Interval Prediction of Ground-Level Temperature in South Korea Using Dynamic Linear Models

The 3-hour-interval prediction of ground-level temperature from +00 h out to +45 h in South Korea (38 stations) is performed using the DLM (dynamic linear model) in order to eliminate the systematic error of numerical model forecasts. Numerical model forecasts and observations are used as input values of the DLM. According to the comparison of the DLM forecasts to the KFM (Kalman filter model) forecasts with RMSE and bias, the DLM is useful to improve the accuracy of prediction.

Dynamic analysis and simulation of four-axis forced synchronizing banana vibrating screen of variable linear trajectory

A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle was analyzed when the action line of the exciting force did not act through the centroid of screen box.Moreover,the dynamic differential equations of centroid and screen surface were obtained.The motions of centroid and screen surface were simulated with actual parameters of the design example in Matlab/Simulink.The results show that not only the amplitude has a significant decrease from 9.38 to 4.10 mm,but also the throwing index and vibrating direction angle have a significant decrease from 10.49 to 4.59,and from 58.10° to 33.29°,respectively,along the screen surface,which indicates that motion characteristics of vibrating screen are consistent with those of traditional banana vibrating screen only by means of a single angle of screen surface.What's more,such banana vibrating screen of variable linear trajectory with greater processing capacity could be obtained by adjusting the relative position of force center and the centroid of screen box properly.

Adaptive Linear Quadratic Regulator for Continuous-Time Systems With Uncertain Dynamics

In this paper, adaptive linear quadratic regulator(LQR) is proposed for continuous-time systems with uncertain dynamics. The dynamic state-feedback controller uses inputoutput data along the system trajectory to continuously adapt and converge to the optimal controller. The result differs from previous results in that the adaptive optimal controller is designed without the knowledge of the system dynamics and an initial stabilizing policy. Further, the controller is updated continuously using input-output data, as opposed to the commonly used switched/intermittent updates which can potentially lead to stability issues. An online state derivative estimator facilitates the design of a model-free controller. Gradient-based update laws are developed for online estimation of the optimal gain. Uniform exponential stability of the closed-loop system is established using the Lyapunov-based analysis, and a simulation example is provided to validate the theoretical contribution.

Dynamic changes of a typical linear dune in the Tengger Desert

The dynamical processes of a typical linear dune including morphological features, dune ridge swing range and crest height were investigated at different monitoring periods in the hinterland of Tengger Desert. The results indicated that the development of linear dune depends on not only the northwesterly prevailing wind, but also the winds from northeast and southwest. The dune ridge swayed along its fundamental strike and took on an eastward movement gradually. The original dune strike was NW70° on August 3, 1994, and then changed to NE15° on April 21, 2001. The dune crest increased by 1.8 m longitudinally, which manifested strong wind-blown sand activities in this region. Wind erosion frequently occured at the bottom of sand dune, while sand accumulation appeared on its mid-upper section. The mean wind erosion depth was 25 cm on the bottom of linear dune and the height difference of the control points on the dune’s ridge was 1.13 m. Although the linear dune swayed laterally, the horizontal displacement of its ridge moved eastward 5.8 m averagely. The swing range of the dune crest line is very distinct, with a maximum value of 13.2 m. The highest site on the K-profile swayed on both sides of the dune ridge and the heights were 19.88 m at the control point K5, 19.61 m at K6 and 19.05 m at K7, respectively. The results indicated that the lateral swing of the linear dune was distinct under the northwesterly wind and it moved toward east gradually.

Dynamic range and linearity improvement for zero-field single-beam atomic magnetometer

Zero-field single-beam atomic magnetometers with transverse parametric modulation for ultra-weak magnetic field detection have attracted widespread attention recently.In this study,we present a comprehensive response model and propose a modification method of conventional first harmonic response by introducing the second harmonic correction.The proposed modification method gives improvement in dynamic range and reduction of linearity error.Additionally,our modification method shows suppression of response instability caused by optical intensity and frequency fluctuations.An atomic magnetometer with single-beam configuration is built to compare the performance between our proposed method and the conventional method.The results indicate that our method’s magnetic field response signal achieves a 5-fold expansion of dynamic range from 2 nT to 10 nT,with the linearity error decreased from 5%to 1%.Under the fluctuations of 5%for optical intensity and±15 GHz detuning of frequency,the proposed modification method maintains intensityrelated instability less than 1%and frequency-related instability less than 8%while the conventional method suffers 15%and 38%,respectively.Our method is promising for future high-sensitive and long-term stable optically pumped atomic sensors.

Dynamic Stability Analysis of Linear Time-varying Systems via an Extended Modal Identification Approach

The problem of linear time-varying（LTV） system modal analysis is considered based on time-dependent state space representations, as classical modal analysis of linear time-invariant systems and current LTV system modal analysis under the ＂frozen-time＂ assumption are not able to determine the dynamic stability of LTV systems. Time-dependent state space representations of LTV systems are first introduced, and the corresponding modal analysis theories are subsequently presented via a stabilitypreserving state transformation. The time-varying modes of LTV systems are extended in terms of uniqueness, and are further interpreted to determine the system＇s stability. An extended modal identification is proposed to estimate the time-varying modes, consisting of the estimation of the state transition matrix via a subspace-based method and the extraction of the time-varying modes by the QR decomposition. The proposed approach is numerically validated by three numerical cases, and is experimentally validated by a coupled moving-mass simply supported beam exper- imental case. The proposed approach is capable of accurately estimating the time-varying modes, and provides anew way to determine the dynamic stability of LTV systems by using the estimated time-varying modes.

Hyers-Ulam Stability of First Order Nonhomogeneous Linear Dynamic Equations on Time Scales

This paper deals with the Hyers-Ulam stability of the nonhomogeneous linear dynamic equation x~?(t)-ax(t) = f(t), where a ∈ R^+. The main results can be regarded as a supplement of the stability results of the corresponding homogeneous linear dynamic equation obtained by Anderson and Onitsuka(Anderson D R, Onitsuka M. Hyers-Ulam stability of first-order homogeneous linear dynamic equations on time scales. Demonstratio Math., 2018, 51: 198–210).

Linear Dynamical System over Finite Distributive Lattice

A finite dynamical system(FDS)over a lattice L is a pair(S(L),f),where S(L)is a left-L module and f is a mapping from S into itself.The phase space of(S(L),f)is a digraph whose vertex set is S(L)and there is an arc from x to y if y=f(x).Let L be a finite distributive lattice,A an n×n matrix over L,and f(x)=Ax.The structure of the phase space of the FDS(Ln,f)is discussed.The number of limit cycles in the phase space of(Ln,f)is described in Möbius function.The phase spaces of some invertible,nilpotent,and idempotent FDS(Ln,f)are characterized explicitly.

Characteristics of the Main Journal Bearings of an Engine Based on Non-linear Dynamics

Many simple nonlinear main journal bearing models have been studied theoretically, but the connection to existing engineering system has not been equally investigated. The consideration of the characteristics of engine main journal bearings may provide a prediction of the bearing load and lubrication. Due to the strong non-linear features in bearing lubrication procedure, it is difficult to predict those characteristics. A non-linear dynamic model is described for analyzing the characteristics of engine main journal bearings. Components such as crankshaft, main journals and con rods are found by applying the finite element method. Non-linear spring/dampers are introduced to imitate the constraint and supporting functions provided by the main bearing and oil film. The engine gas pressure is imposed as excitation on the model via the engine piston, con rod, etc. The bearing reaction force is calculated over one engine cycle, and meanwhile, the oil film thickness and pressure distribution are obtained based on Reynolds differential equation. It can be found that the maximum bearing reaction force always occurs when the maximum cylinder pressure arises in the cylinder adjacent to that bearing. The simulated minimum oil film thickness, which is 3 μm, demonstrates the reliability of the main journal bearings. This non-linear dynamic analysis may save computing efforts of engine main bearing design and also is of good precision and close connection to actual engine main journal bearing conditions.

Non-linearity in the dynamic world of human movement

Non-linear dynamics,fractals,periodic oscillations,bifurcations,chaos,and other terminologies have been used to describe human biological systems in the literature for a few decades.The eight manuscripts included in this special issue discussed the historical background,

The Analysis of the Dynamic Equilibrium State in Linear Control System

This paper discusses not a point of equilibrium to free system,but a certain family of equilibrium state of dynami- cal system with inputs.This equilibrium state depends on the input,so it is called the dynamic equilibrium state.The expression of the dynamic equilibrium state can be given under some certain condition.With deductions and proofs in linear control system,es- tablish the expression of the dynamic equilibrium state in two cases,where the linear systems are nonsingular or singular.Also pre- sent the concept and the condition of the controllability of the dynamic equilibrium state.The controllability of the dynamic equilib- rium state is different from the controllability of the state to system,but these two are closely related.

Eigenstructure assignment of lower-order dynamical compensatorsfor linear systems with unknown inputs

Presents a systematic design method of reduced order dynamical compensator via the parametric representations of eigenstructure assignment for linear system, which provides maximum degree of freedom, and can be easily used for the design of a linear system with unknown inputs under some conditions. Even when these conditions are not satisfied, the lower order dynamical compensator can also be designed under some relaxed conditions. Some examples illustrate that the method is neat, simple and effective.