CONTROLLABILITY CANONICAL FORM FOR NONLINEAR CONTROL SYSTEMS

General nonlinear control systems are studied in this paper with the goal to transform them into the so-called controllability canonteal form via state transformation only. The conditions of transformability are given for both single input and multiple input cases. Besides, by an algebraic approach the procedure for constructing the state transformation is established. This paper is formulated in the framework of calculus rather than differential geometry approach.

Notes on Canonical Forms of Integrable Vector Nonlinear Schr?dinger Systems

We present canonical forms of integrable vector nonlinear Sehr6dinger systems. Mathematically, it is enough to focus on these canonical forms.

Stabilization of a class of switched nonlinear systems

The stabilization of a class of switched nonlinear systems is investigated in the paper. The systems concerned are of （generalized） switched Byrnes-Isidori canonical form, which has all switched models in （generalized） Byrnes- Isidori canonical form. First, a stability result of switched systems is obtained. Then it is used to solve the stabilization problem of the switched nonlinear control systems. In addition, necessary and sufficient conditions are obtained for a switched affine nonlinear system to be feedback equivalent to （generalized） switched Byrnes-Isidori canonical systems are presented. Finally, as an application the stability of switched lorenz systems is investigated.

Leader-Following Consensus of Nonlinear Strict-Feedback Multi-agent Systems

The distributed leader-following consensus for nonlinear multi-agent systems in strict-feedback forms is investigated under directed topology. Firstly, each follower node is modeled by an integrator incorporating with nonlinear dynamics. The leader node is modeled as an autonomous nonlinear system which sends its information to one or more followers. Then, a simple and novel distributed protocol is proposed based only on the state feedback, under which the states of the followers ultimately synchronize to the leader. By using Lyapunov stability theorem and matrix theory, it is proved that the distributed leader-following consensus of nonlinear multi-agent systems with strict-feedback form is guaranteed by Lipschitz continuous control laws. Finally, some numerical simulations are provided to show the effectiveness of the developed method.

Direct Adaptive Fuzzy Based Backstepping Control of Semi Strict Feedback Nonlinear Systems

In this paper, a direct adaptive fuzzy tracking control is proposed for a class of uncertain single-input single-output nonlinear semi-strict feedback systems. Based on Takagi-Sugeno type fuzzy systems, a direct adaptive fuzzy tracking controller is developed by using the backstepping approach. The main advantage of the developed method is that for an n-th order system, only one parameter is needed to be adjusted online. It is proven that, under the appropriate assumptions, the developed scheme can achieve that the output system converges to a small neighborhood of the reference signal and all the signals in the closed-loop system remain bounded. The efficacy of the proposed algorithm is investigated by an illustrative simulation example of one link robot.

ADJOINT OPERATOR METHOD AND NORMAL FORMS OF HIGHER ORDER FOR NONLINEAR DYNAMICAL SYSTEM

Normal form theory is a very effective method when we study degenerate bifurcations of nonlinear dynamical systems. In this paper by using adjoint operator method, normal forms of order 3 and 4 for nonlinear dynamical system with nilpotent linear part and Z(2)-asymmetry are computed. According to normal forms obtained, universal unfoldings for some degenerate bifurcation cases of codimension 3 and simple global characterizations, are studied.

Computation of the Simplest Normal Forms for Resonant Double Hopf Bifurcations System Based on Lie Transform

The simplest normal form of resonant double Hopf bifurcation was studied based on Lie operator. The coefficients of the simplest normal forms of resonant double Hopf bifurcation and the nonlinear transformations in terms of the original system coefficients were given explicitly. The nonlinear transformations were used for reducing the lower- and higher-order normal forms, and the rank of system matrix was used to determine the coefficient of normal form which could be reduced. These make the gained normal form simpler than the traditional one. A general program was compiled with Mathematica. This program can compute the simplest normal form of resonant double Hopf bifurcation and the non-resonant form up to the 7th order.

一种求解非线性振动系统渐近解的新方法——计算向量场Normal Form系数的简单方法

利用非线整变换,本文推导出了一种只需通过简单代数运算即可算出Hopf分叉Normal Form系数的简单方法,用这种方法求解非线性振动问题,只需把原方程变换成本文讨论的典则形式的一阶微分方程组,然后进行简单的代数运算即可得到原非线性振动方程的解,这种方法简单方便容易掌握。

基于Normal Form理论的电力系统3阶解析解

在对电力系统动态方程进行泰勒级数展开的基础上,运用normal form理论推导出其3阶解析解。分别对单机无穷大系统和2区域4机系统进行了仿真,通过在时域和频域定义的两个近似度指标对比分析线性解析解,2阶解析解及3阶解析解在分析电力系统受扰后的动态特性精确性。并且应用prony算法对仿真结果进行定量分析,检测到了数值积分解中高阶复合模态的存在。从而,验证了推导的3阶解析解对受扰后系统进行分析的有效性。

一种基于NORMAL FORM变换的时间序列轨迹预测方法

随着基于GPS的功角测量技术在电力系统中的广泛应用,在线轨迹的预测成为了可能,其对于暂态稳定紧急控制具有重要意义。本文基于Normal Form分析,提出了一种复幂指数时间序列的预测方法;针对轨迹预测特点和各种预测模型对观测数据窗长短的要求不同,提出了一种变结构的思想。所提预测方法是基于Prony非线性拟合,Prony方法及其最近的研究显示了其在线应用的可能。轨迹预测过程和结果使用中国电科院8机36母线系统进行分析,其时域仿真结果验证了所提方法的有效性和可行性。

Calculation of Coefficients of Simplest Normal Forms of Hopf and Generalized Hopf Bifurcations

The coefficients of the simplest normal forms of both high-dimensional generalized Hopf and high-dimensional Hopf bifurcation systems were discussed using the adjoint operator method. A particular nonlinear scaling and an inner product were introduced in the space of homogeneous polynomials. Theorems were established for the explicit expression of the simplest normal forms in terms of the coefficients of both the conventional normal forms of Hopf and generalized Hopf bifurcation systems. A symbolic manipulation was designed to perform the calculation of the coefficients of the simplest normal forms using Mathematica. The original ordinary differential equation was required in the input and the simplest normal form could be obtained as the output. Finally, the simplest normal forms of 6-dimensional generalized Hopf singularity of type 2 and 5-dimensional Hopf bifurcation system were discussed by executing the program. The output showed that the 5th- and 9th-order terms remained in 6-dimensional generalized Hopf singularity of type 2 and the 3rd- and 5th-order terms remained in 5-dimensional Hopf bifurcation system.

COMPLEX INNER PRODUCT AVERAGING METHOD FOR CALCULATING NORMAL FORM OF ODE

This paper puts forward a complex inner product averaging method for calculating normal form of ODE. Compared with conventional averaging method, the theoretic analytical process has such simple forms as to realize computer program easily. Results can be applied in both autonomous and non-autonomous systems. At last, an example is resolved to verify the method.

ABSOLUTE OBSERVABILITIES OF NONLINEAR CONTROL SYSTEMS AND THEIR NORMAL FORMS

In this paper the concept of absolute observability of nonlinear control systems is advanced.Different from the linear time-invariant version, there are different definitions of absolute observability for nonlinear control systems.Two algorithms for maximal absolutely observable subsystems are given.Correspondingly,there are two relevant normal forms.The relations with the largest controlled invariant distribution contained in kerdh,zero dynamics etc.,are discussed from the view point of maximal absolute observabilities.

THE CANONICAL FORM OF UNCONTROLLABLE NONLINEAR CONTROL SYSTEMS

This paper considers uncontrollable control systems, and gives the definition of the canonical form for such systems. Necessary and sufficient conditions for the existence of the canonical form are derived.

THE APPLICATIONS OF A MODIFIED NORMAL FORM APPROACH

The modified normal form approach presented by ZHANG Wei-yi, K Huseyin and CHEN Yu-shu is further extended and a different procedure is introduced which lends itself readily to symbolic calculations, like MAPLE. This provides a number of significant advantages over the previous approach, and facilitates the associated calculations. To illustrate the new approach, three examples are presented.

NEW DELAY-DEPENDENT STABILITY CRITERIA AND ROBUST CONTROL OF NONLINEAR TIME-DELAY SYSTEMS

This paper investigates the stability analysis and H_∞ control for a class of nonlinear timedelay systems,and proposes a number of new results.Firstly,an equivalent form is given for this class of systems by means of coordinate transformation and orthogonal decomposition of vector fields.Then,based on the equivalent form,some delay-dependent results are derived for the stability analysis of the systems by constructing a novel Lyapunov functional.Thirdly,the authors use the equivalent form and the obtained stability results to investigate the H_∞ control problem for a class of nonhnear time-delay control systems,and present a control design procedure.Finally,an illustrative example is given to show the effectiveness of the results obtained in this paper.It is shown that the main results of this paper are easier to check than some existing ones,and have less conservatism.

Quadratic stabilization of switched nonlinear systems

In this paper, the problem of quadratic stabilization of multi-input multi-output switched nonlinear systems under an arbitrary switching law is investigated.When switched nonlinear systems have uniform normal form and the zero dynamics of uniform normal form is asymptotically stable under an arbitrary switching law, state feedbacks are designed and a common quadratic Lyapunov function of all the closed-loop subsystems is constructed to realize quadratic stabilizability of the class of switched nonlinear systems under an arbitrary switching law.The results of this paper are also applied to switched linear systems.

通过选择SVC安装地点提高静态电压稳定性的新方法

选择静止无功补偿器(static var compensator,SVC)或其它类型的并联型无功补偿装置的安装地点对提高电力系统电压稳定性是一个重要而实际的课题。该文提出一种采用向量场正规形理论,以非线性参与因子为依据,确定SVC安装位置的新方法。由于所提出的方法可计及电力系统非线性特性对电压稳定性的影响,因此与线性化分析方法相比,该文提出的方法在系统具有强非线性特性的条件下,仍能准确选择SVC的有效安装地点。为验证所提出方法的有效性,将所提出的方法用于New England39节点系统,确定在系统中使用SVC的最有效位置,通过对几种情况下系统电压稳定性指标的比较,验证所提出方法的有效性。

欠驱动机械系统控制设计综述

为了探讨欠驱动机械系统具有一般性的系统化控制设计方法,综述了目前关于欠驱动机械系统控制问题的具体应用和主要方法。基于欠驱动机械系统一般性的动力学描述,介绍了将其动力学转换成具有结构特征的三种级联非线性规范型的归约方法,归纳了针对三种级联规范型的一般性非线性控制方案,对今后欠驱动机械系统控制设计的研究发展方向进行了展望。

正规形方法在互联电网低频振荡分析中的应用

该文介绍了正规形方法在互联电力系统低频振荡研究中的应用,详细讨论了其数学模型和处理过程。正规形方法揭示了非线性模式相关性对系统动态特性的影响。通过非线性向量场的正规形变换得到了电力系统状态方程的 2 阶解析解,扩展了线性相关因子的概念。正规形方法、特征值计算和 Prony 分析的综合应用将小信号稳定和时域仿真有效地结合起来。仿真分析的结果证明了该方法是低频振荡分析的有效工具。