Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems

In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multioutput(MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unknown external disturbance based on backstepping technique. The MIMO nonaffine system is first transformed into a time-varying system with strict feedback structure using the mean value theorem,and then the bounded time-varying parameters are estimated by adaptive algorithms with projection. To handle the possible"controller singularity" problem caused by unknown control direction, a Nussbaum function is employed, and the dynamic surface control(DSC) method is applied to solve the problem of"explosion of complexity" in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through Lyapunov stability theorem and decoupled backstepping method. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.

A Discretization Method for Nonlinear Delayed Non-affine Systems

The input time delay is always existent in the practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computer. This paper proposes a new discretization method for calculating a sampled-data representation of nonlinear time-delayed non-affine systems. The proposed scheme provides a finite-dimensional representation for nonlinear systems with non-a^ne time-delayed input enabling existing nonlinear controller design techniques to be applied to them. The performance of the proposed discretization procedure is evaluated by using a nonlinear system with non-affine time-delayed input. For this nonlinear system, various time delay values are considered.

Optimal Controller Design for Non-Affine Nonlinear Power Systems with Static Var Compensators for Hybrid UAVs

A generalized non-affine nonlinear power system model is presented for a single machine bus power system with a Static Var Compensator(SVC)or State Var System(SVS)for hybrid Unmanned Aerial Vehicles(UAVs).The model is constructed by differential algebraic equations on the MATLAB-Simulink platform with the programming technique of its S-Function.Combining the inverse system method and the Linear Quadratic Regulation(LQR),an optimized SVC controller is designed.The simulations under three fault conditions show that the proposed controller can effectively improve the power system transient performance.

Discretization of Nonlinear Non-affine Time Delay Systems Based on Second-order Hold

When calculating the sampled-date representation of nonlinear systems second-order hold(SOH) assumption can be applied to improving the precision of the discretization results. This paper proposes a discretization method based on Taylor series and the SOH assumption for the nonlinear systems with the time delayed non-affine input. The mathematical structure of the proposed discretization method is explored. This proposed discretization method can provide a precise and finite dimensional discretization model for the nonlinear time-delayed non-affine system by keeping the truncation order of the Taylor series. The performance of the proposed discretization method is evaluated by doing the simulation using a nonlinear system with the time-delayed non-affine input.Different input signals, time-delay values and sampling periods are considered in the simulation to investigate the proposed method.The simulation results demonstrate that the proposed method is practical and easy for time-delayed nonlinear non-affine systems.The comparison between SOH assumption with first-order hold(FOH) and zero-order hold(ZOH) assumptions is given to show the advantages of the proposed method.

Combined indirect and direct method for adaptive fuzzy output feedback control of nonlinear system

A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.

Adaptive accurate tracking control of HFVs in the presence of dead-zone and hysteresis input nonlinearities

A novel accurate tracking controller is developed for the longitudinal dynamics of Hypersonic Flight Vehicles(HFVs)in the presence of large model uncertainties,external disturbances and actuator nonlinearities.Distinct from the state-of-the-art,besides being continuity,no restrictive conditions have been imposed on the HFVs dynamics.The system uncertainties are skillfully handled by being seen as bounded"disturbance terms".In addition,by means of backstepping adaptive technique,the accurate tracking(i.e.tracking errors converge to zero as time approaches infinity)rather than bounded tracking(i.e.tracking errors converge to residual sets)has been achieved.What’s more,the accurate tracking problems for HFVs subject to actuator dead-zone and hysteresis are discussed,respectively.Then,all signals of closed-loop system are verified to be Semi-Global Uniformly Ultimate Boundness(SGUUB).Finally,the efficacy and superiority of the developed control strategy are confirmed by simulation results.

Nonlinear Viscoelastic Response of Thermoplastic-Elastomer Melts

Observations are reported on thermoplastic elastomer(ethylene-octene copolymer)melt in small-amplitude shear oscillatory tests and start-up shear tests with various strain rates in the interval of temperatures between 120 and 210◦C.Based on the concept of heterogeneous non-affine polymer networks,constitutive equations are developed for the thermo-mechanical behavior of a melt at threedimensional deformations with finite strains.Adjustable parameters in the stress–strain relations are found by fitting the experimental data.The model is applied to the analysis of Poiseuille flow.The effects of temperature and pressure gradient on the steady velocity profile are studied numerically.