A more general form of projective synchronization, so called linear generalized synchronization (LGS) is proposed, which includes the generalized projective synchronization (GPS) and the hybrid projective synchron...A more general form of projective synchronization, so called linear generalized synchronization (LGS) is proposed, which includes the generalized projective synchronization (GPS) and the hybrid projective synchronization (HPS) as its special cases, Based on the adaptive technique and Lyapunov stability theory, a general method for achieving the LGS between two chaotic or hyperehaotic systems with uncertain parameters in any scaling matrix is presented. Some numerical simulations are provided to show the effectiveness and feasibility of the proposed synchronization method.展开更多
This work presents the “Second-Order Comprehensive Adjoint Sensitivity Analysis Methodology (2<sup>nd</sup>-CASAM)” for the efficient and exact computation of 1<sup>st</sup>- and 2<sup>...This work presents the “Second-Order Comprehensive Adjoint Sensitivity Analysis Methodology (2<sup>nd</sup>-CASAM)” for the efficient and exact computation of 1<sup>st</sup>- and 2<sup>nd</sup>-order response sensitivities to uncertain parameters and domain boundaries of linear systems. The model’s response (<em>i.e.</em>, model result of interest) is a generic nonlinear function of the model’s forward and adjoint state functions, and also depends on the imprecisely known boundaries and model parameters. In the practically important particular case when the response is a scalar-valued functional of the forward and adjoint state functions characterizing a model comprising N parameters, the 2<sup>nd</sup>-CASAM requires a single large-scale computation using the First-Level Adjoint Sensitivity System (1<sup>st</sup>-LASS) for obtaining all of the first-order response sensitivities, and at most N large-scale computations using the Second-Level Adjoint Sensitivity System (2<sup>nd</sup>-LASS) for obtaining exactly all of the second-order response sensitivities. In contradistinction, forward other methods would require (<em>N</em>2/2 + 3 <em>N</em>/2) large-scale computations for obtaining all of the first- and second-order sensitivities. This work also shows that constructing and solving the 2<sup>nd</sup>-LASS requires very little additional effort beyond the construction of the 1<sup>st</sup>-LASS needed for computing the first-order sensitivities. Solving the equations underlying the 1<sup>st</sup>-LASS and 2<sup>nd</sup>-LASS requires the same computational solvers as needed for solving (<em>i.e.</em>, “inverting”) either the forward or the adjoint linear operators underlying the initial model. Therefore, the same computer software and “solvers” used for solving the original system of equations can also be used for solving the 1<sup>st</sup>-LASS and the 2<sup>nd</sup>-LASS. Since neither the 1<sup>st</sup>-LASS nor the 2<sup>nd</sup>-LASS involves any differentials of the operators underlying the original system, the 1<sup>st</sup>-LASS is designated as a “<u>first-level</u>” (as opposed to a “first-order”) adjoint sensitivity system, while the 2<sup>nd</sup>-LASS is designated as a “<u>second-level</u>” (rather than a “second-order”) adjoint sensitivity system. Mixed second-order response sensitivities involving boundary parameters may arise from all source terms of the 2<sup>nd</sup>-LASS that involve the imprecisely known boundary parameters. Notably, the 2<sup>nd</sup>-LASS encompasses an automatic, inherent, and independent “solution verification” mechanism of the correctness and accuracy of the 2nd-level adjoint functions needed for the efficient and exact computation of the second-order sensitivities.展开更多
In this paper, we investigate complete synchronization of double-delayed RSssler systems with uncertain parameters as the master system is in chaotic synchronization. The uncertain parameters can be nonlinearly expres...In this paper, we investigate complete synchronization of double-delayed RSssler systems with uncertain parameters as the master system is in chaotic synchronization. The uncertain parameters can be nonlinearly expressed in the system. The analysis and proof are given by means of the Lyapunov stability theorem. Based on theoretical analysis, some sufficient conditions of complete synchronization are proved. In order to validate the proposed scheme, numerical simulations are performed and the numerical results show that our scheme is very effective.展开更多
This paper deals with the finite-time stabilization of unified chaotic complex systems with known and unknown parameters. Based on the finite-time stability theory, nonlinear control laws are presented to achieve fini...This paper deals with the finite-time stabilization of unified chaotic complex systems with known and unknown parameters. Based on the finite-time stability theory, nonlinear control laws are presented to achieve finite-time chaos control of the determined and uncertain unified chaotic complex systems, respectively. The two controllers are simple, and one of the uncertain unified chaotic complex systems is robust. For the design of a finite-time controller on uncertain unified chaotic complex systems, only some of the unknown parameters need to be bounded. Simulation results for the chaotic complex Lorenz, Lu¨ and Chen systems are presented to validate the design and analysis.展开更多
This work presents the application of the recently developed “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N)” to a simplified Bernoulli ...This work presents the application of the recently developed “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N)” to a simplified Bernoulli model. The 5<sup>th</sup>-CASAM-N builds upon and incorporates all of the lower-order (i.e., the first-, second-, third-, and fourth-order) adjoint sensitivities analysis methodologies. The Bernoulli model comprises a nonlinear model response, uncertain model parameters, uncertain model domain boundaries and uncertain model boundary conditions, admitting closed-form explicit expressions for the response sensitivities of all orders. Illustrating the specific mechanisms and advantages of applying the 5<sup>th</sup>-CASAM-N for the computation of the response sensitivities with respect to the uncertain parameters and boundaries reveals that the 5<sup>th</sup>-CASAM-N provides a fundamental step towards overcoming the curse of dimensionality in sensitivity and uncertainty analysis.展开更多
Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant co...Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.展开更多
This paper addresses the adaptive synchronization for uncertain Liu system via a nonlinear input. By using a single nonlinear controller, the approach is utilized to implement the synchronization of Liu system with to...This paper addresses the adaptive synchronization for uncertain Liu system via a nonlinear input. By using a single nonlinear controller, the approach is utilized to implement the synchronization of Liu system with total parameters unknown. This method is simple and can be easily designed. What is more, it improves the existing conclusions in Ref [12]. Simulation results prove that the controller is effective and feasible in the end.展开更多
Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to ...Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.展开更多
In this paper, a numerical method for correlation sensitivity analysis of a nonlinear random vibration system is presented. Based on the first passage failure model, the probability perturbation method is employed to ...In this paper, a numerical method for correlation sensitivity analysis of a nonlinear random vibration system is presented. Based on the first passage failure model, the probability perturbation method is employed to determine the statistical characteristics of failure modes and the correlation between them. The sensitivity of correlation between failure modes with respect to random parameters characterizing the uncertainty of the hysteretic loop is discussed. In a numerical example, a two-DOF shear structure with uncertain hysteretic restoring force is considered. The statistical characteristics of response, failure modes and the sensitivity of random hysteretic loop parameters are provided, and also compared with a Monte Carlo simulation.展开更多
This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose...This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master's and the slave's system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.展开更多
In this paper, we propose a novel approach for simultaneously identifying unknown parameters and synchronizing time-delayed complex community networks with nonidentical nodes. Based on the LaSalle's invariance princi...In this paper, we propose a novel approach for simultaneously identifying unknown parameters and synchronizing time-delayed complex community networks with nonidentical nodes. Based on the LaSalle's invariance principle, a cri- teflon is established by constructing an effective control identification scheme and adjusting automatically the adaptive coupling strength. The proposed control law is applied to a complex community network which is periodically synchro- nized with different chaotic states. Numerical simulations are conducted to demonstrate the feasibility of the proposed method.展开更多
In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible...In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov's stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities(LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods.展开更多
An adaptive passive strategy for controlling uncertain Lu system is proposed. Since the uncertain Lü system is minimum phase and the uncertain parameters are from a bounded compact set, the essential conditions a...An adaptive passive strategy for controlling uncertain Lu system is proposed. Since the uncertain Lü system is minimum phase and the uncertain parameters are from a bounded compact set, the essential conditions are studied by which uncertain Lu system could be equivalent to a passive system, and the adaptive control law is given. Using passive theory, the uncertain Lu system could be globally asymptotically stabilized at different equilibria by the smooth state feedback.展开更多
Consideration of the dynamic effects of the site and structural parameter uncertainty is required by the standards for nuclear power plants (NPPs) in most countries. The anti-seismic standards provide two basic meth...Consideration of the dynamic effects of the site and structural parameter uncertainty is required by the standards for nuclear power plants (NPPs) in most countries. The anti-seismic standards provide two basic methods to analyze parameter uncertainty. Directly manually dealing with the calculated floor response spectra (FRS) values of deterministic approaches is the first method. The second method is to perform probability statistical analysis of the FRS results on the basis of the Monte Carlo method. The two methods can only reflect the overall effects of the uncertain parameters, and the results cannot be screened for a certain parameter's influence and contribution. In this study, based on the dynamic analyses of the floor response spectra of NPPs, a comprehensive index of the assessed impact for various uncertain parameters is presented and recommended, including the correlation coefficient, the regression slope coefficient and Tornado swing. To compensate for the lack of guidance in the NPP seismic standards, the proposed method can effectively be used to evaluate the contributions of various parameters from the aspects &sensitivity, acuity and statistical swing correlations. Finally, examples are provided to verify the set of indicators from systematic and intuitive perspectives, such as the uncertainty of the impact of the structure parameters and the contribution to the FRS of NPPs. The index is sensitive to different types of parameters, which provides a new technique for evaluating the anti-seismic parameters required for NPPs.展开更多
Offshore platforms are susceptible to structural damage due to prolonged exposure to random loads,such as wind,waves,and currents.This is particularly true for platforms that have been in service for an extended perio...Offshore platforms are susceptible to structural damage due to prolonged exposure to random loads,such as wind,waves,and currents.This is particularly true for platforms that have been in service for an extended period.Identifying the modal parameters of offshore platforms is crucial for damage diagno sis,as it serves as a prerequisite and foundation for the process.Therefore,it holds great significance to prioritize the identification of these parameters.Aiming at the shortcomings of the traditional Fast Bayesian Fast Fourier Transform(FBFFT) method,this paper proposes a modal parameter identification method based on Automatic Frequency Domain Decomposition(AFDD) and optimized FBFFT.By introducing the AFDD method and Powell optimization algorithm,this method can automatically identify the initial value of natural frequency and solve the objective function efficiently and simply.In order to verify the feasibility and effectiveness of the proposed method,it is used to identify the modal parameters of the IASC-ASCE benchmark model and the j acket platform structure model,and the Most Probable Value(MPV) of the modal parameters and their respective posterior uncertainties are successfully identified.The identification results of the IASC-ASCE benc hmark model are compared with the identification re sults of the MODE-ID method,which verifies the effectivene ss and accuracy of the proposed method for identifying modal parameters.It provides a simple and feasible method for quantifying the influence of uncertain factors such as environmental parameters on the identification results,and also provide s a reference for modal parameter identification of other large structures.展开更多
With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potentia...With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking展开更多
The lateral stability for railway vehicle dynamic system with uncertainparameters and nonlinear uncertain force vector is studied by using the Lyapunov stability theory. Arobust stability condition for the considered ...The lateral stability for railway vehicle dynamic system with uncertainparameters and nonlinear uncertain force vector is studied by using the Lyapunov stability theory. Arobust stability condition for the considered system is derived, and the obtained stability boundsare not necessarily symmetric with respect to the origin in the parameter space. The lateralstability analysis for a railway bogie model is analyzed by using the proposed approach. Thesymmetric and asymmetric results are both given and the influence of the adjustable parameter betaon the stability bounds is also discussed. With the help of the proposed method, the robuststability analysis can provide a reference for the design of the railway vehicle systems.展开更多
The finite-time synchronization of fractional-order multi-weighted complex networks(FMCNs)with uncertain parameters and external disturbances is studied.Firstly,based on fractional calculus characteristics and Lyapuno...The finite-time synchronization of fractional-order multi-weighted complex networks(FMCNs)with uncertain parameters and external disturbances is studied.Firstly,based on fractional calculus characteristics and Lyapunov stability theory,quantized controllers are designed to guarantee that FMCNs can achieve synchronization in a limited time with and without coupling delay,respectively.Then,appropriate parameter update laws are obtained to identify the uncertain parameters in FMCNs.Finally,numerical simulation examples are given to validate the correctness of the theoretical results.展开更多
In this paper, based on the second-order Taylor series expansion and the difference of convex functions algo- rithm for quadratic problems with box constraints (the DCA for QB), a new method is proposed to solve the...In this paper, based on the second-order Taylor series expansion and the difference of convex functions algo- rithm for quadratic problems with box constraints (the DCA for QB), a new method is proposed to solve the static response problem of structures with fairly large uncertainties in interval parameters. Although current methods are effective for solving the static response problem of structures with interval parameters with small uncertainties, these methods may fail to estimate the region of the static response of uncertain structures if the uncertainties in the parameters are fairly large. To resolve this problem, first, the general expression of the static response of structures in terms of structural parameters is derived based on the second-order Taylor series expansion. Then the problem of determining the bounds of the static response of uncertain structures is transformed into a series of quadratic problems with box constraints. These quadratic problems with box constraints can be solved using the DCA approach effectively. The numerical examples are given to illustrate the accuracy and the efficiency of the proposed method when comparing with other existing methods.展开更多
基金the National Natural Science Foundation of China (60574045 10661006).
文摘A more general form of projective synchronization, so called linear generalized synchronization (LGS) is proposed, which includes the generalized projective synchronization (GPS) and the hybrid projective synchronization (HPS) as its special cases, Based on the adaptive technique and Lyapunov stability theory, a general method for achieving the LGS between two chaotic or hyperehaotic systems with uncertain parameters in any scaling matrix is presented. Some numerical simulations are provided to show the effectiveness and feasibility of the proposed synchronization method.
文摘This work presents the “Second-Order Comprehensive Adjoint Sensitivity Analysis Methodology (2<sup>nd</sup>-CASAM)” for the efficient and exact computation of 1<sup>st</sup>- and 2<sup>nd</sup>-order response sensitivities to uncertain parameters and domain boundaries of linear systems. The model’s response (<em>i.e.</em>, model result of interest) is a generic nonlinear function of the model’s forward and adjoint state functions, and also depends on the imprecisely known boundaries and model parameters. In the practically important particular case when the response is a scalar-valued functional of the forward and adjoint state functions characterizing a model comprising N parameters, the 2<sup>nd</sup>-CASAM requires a single large-scale computation using the First-Level Adjoint Sensitivity System (1<sup>st</sup>-LASS) for obtaining all of the first-order response sensitivities, and at most N large-scale computations using the Second-Level Adjoint Sensitivity System (2<sup>nd</sup>-LASS) for obtaining exactly all of the second-order response sensitivities. In contradistinction, forward other methods would require (<em>N</em>2/2 + 3 <em>N</em>/2) large-scale computations for obtaining all of the first- and second-order sensitivities. This work also shows that constructing and solving the 2<sup>nd</sup>-LASS requires very little additional effort beyond the construction of the 1<sup>st</sup>-LASS needed for computing the first-order sensitivities. Solving the equations underlying the 1<sup>st</sup>-LASS and 2<sup>nd</sup>-LASS requires the same computational solvers as needed for solving (<em>i.e.</em>, “inverting”) either the forward or the adjoint linear operators underlying the initial model. Therefore, the same computer software and “solvers” used for solving the original system of equations can also be used for solving the 1<sup>st</sup>-LASS and the 2<sup>nd</sup>-LASS. Since neither the 1<sup>st</sup>-LASS nor the 2<sup>nd</sup>-LASS involves any differentials of the operators underlying the original system, the 1<sup>st</sup>-LASS is designated as a “<u>first-level</u>” (as opposed to a “first-order”) adjoint sensitivity system, while the 2<sup>nd</sup>-LASS is designated as a “<u>second-level</u>” (rather than a “second-order”) adjoint sensitivity system. Mixed second-order response sensitivities involving boundary parameters may arise from all source terms of the 2<sup>nd</sup>-LASS that involve the imprecisely known boundary parameters. Notably, the 2<sup>nd</sup>-LASS encompasses an automatic, inherent, and independent “solution verification” mechanism of the correctness and accuracy of the 2nd-level adjoint functions needed for the efficient and exact computation of the second-order sensitivities.
基金Project supported by the National Natural Science Foundation of China (Grant No.10847110)
文摘In this paper, we investigate complete synchronization of double-delayed RSssler systems with uncertain parameters as the master system is in chaotic synchronization. The uncertain parameters can be nonlinearly expressed in the system. The analysis and proof are given by means of the Lyapunov stability theorem. Based on theoretical analysis, some sufficient conditions of complete synchronization are proved. In order to validate the proposed scheme, numerical simulations are performed and the numerical results show that our scheme is very effective.
基金the National Natural Science Foundation of China(Grant Nos.60874009 and 10971120)the Natural Science Foundation of Shandong Province,China(Grant No.ZR2010FM010)
文摘This paper deals with the finite-time stabilization of unified chaotic complex systems with known and unknown parameters. Based on the finite-time stability theory, nonlinear control laws are presented to achieve finite-time chaos control of the determined and uncertain unified chaotic complex systems, respectively. The two controllers are simple, and one of the uncertain unified chaotic complex systems is robust. For the design of a finite-time controller on uncertain unified chaotic complex systems, only some of the unknown parameters need to be bounded. Simulation results for the chaotic complex Lorenz, Lu¨ and Chen systems are presented to validate the design and analysis.
文摘This work presents the application of the recently developed “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5<sup>th</sup>-CASAM-N)” to a simplified Bernoulli model. The 5<sup>th</sup>-CASAM-N builds upon and incorporates all of the lower-order (i.e., the first-, second-, third-, and fourth-order) adjoint sensitivities analysis methodologies. The Bernoulli model comprises a nonlinear model response, uncertain model parameters, uncertain model domain boundaries and uncertain model boundary conditions, admitting closed-form explicit expressions for the response sensitivities of all orders. Illustrating the specific mechanisms and advantages of applying the 5<sup>th</sup>-CASAM-N for the computation of the response sensitivities with respect to the uncertain parameters and boundaries reveals that the 5<sup>th</sup>-CASAM-N provides a fundamental step towards overcoming the curse of dimensionality in sensitivity and uncertainty analysis.
基金supported by the National Natural Science Foundation of China(11372073,11072061)
文摘Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.
基金Project supported by the Educational Commission of Hubei Province of China,(Grant No 080056)
文摘This paper addresses the adaptive synchronization for uncertain Liu system via a nonlinear input. By using a single nonlinear controller, the approach is utilized to implement the synchronization of Liu system with total parameters unknown. This method is simple and can be easily designed. What is more, it improves the existing conclusions in Ref [12]. Simulation results prove that the controller is effective and feasible in the end.
基金supported by the National Natural Science Foundation of China (11142013, 11172260 and 11072214)the Doctoral Fund of Ministry of Education of China (20110101110016)the Fundamental Research Funds for the Central Universities of China(2011QNA4001)
文摘Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.
基金National Natural Science Foundation of ChinaUnder Grant No: 50535010
文摘In this paper, a numerical method for correlation sensitivity analysis of a nonlinear random vibration system is presented. Based on the first passage failure model, the probability perturbation method is employed to determine the statistical characteristics of failure modes and the correlation between them. The sensitivity of correlation between failure modes with respect to random parameters characterizing the uncertainty of the hysteretic loop is discussed. In a numerical example, a two-DOF shear structure with uncertain hysteretic restoring force is considered. The statistical characteristics of response, failure modes and the sensitivity of random hysteretic loop parameters are provided, and also compared with a Monte Carlo simulation.
文摘This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master's and the slave's system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.
基金Project supported by the Key Program of the National Natural Science of China(Grant No.11232009)the Shanghai Leading Academic Discipline Project,China(Grant No.S30106)
文摘In this paper, we propose a novel approach for simultaneously identifying unknown parameters and synchronizing time-delayed complex community networks with nonidentical nodes. Based on the LaSalle's invariance principle, a cri- teflon is established by constructing an effective control identification scheme and adjusting automatically the adaptive coupling strength. The proposed control law is applied to a complex community network which is periodically synchro- nized with different chaotic states. Numerical simulations are conducted to demonstrate the feasibility of the proposed method.
基金Project supported by the Fundamental Research Funds for the Central Universities of Ministry of Education of China(Grant No.2014JBM150)
文摘In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov's stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities(LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods.
基金Project supported by the National Natural Science Foundation of China ation of Zhejiang Province (Grant No Y104414).
文摘An adaptive passive strategy for controlling uncertain Lu system is proposed. Since the uncertain Lü system is minimum phase and the uncertain parameters are from a bounded compact set, the essential conditions are studied by which uncertain Lu system could be equivalent to a passive system, and the adaptive control law is given. Using passive theory, the uncertain Lu system could be globally asymptotically stabilized at different equilibria by the smooth state feedback.
基金the State Key Program of the National Natural Science Fundation of China under Grant No.51138001the Science Fund for Creative Research Groups of the National Natural Science Foundation of China under Grant No.51421064+2 种基金the State Key Laboratory of Coastal and Offshore Engineering Young Scholars Innovation Fund(LY1609)the Fundamental Research Funds for the Central Universities under Grant No.DUT15TD17the Open Research Fund of Hunan Province Key Laboratory of Key Technologies for Water Power Resources Development under Grant No.PKLHD20130
文摘Consideration of the dynamic effects of the site and structural parameter uncertainty is required by the standards for nuclear power plants (NPPs) in most countries. The anti-seismic standards provide two basic methods to analyze parameter uncertainty. Directly manually dealing with the calculated floor response spectra (FRS) values of deterministic approaches is the first method. The second method is to perform probability statistical analysis of the FRS results on the basis of the Monte Carlo method. The two methods can only reflect the overall effects of the uncertain parameters, and the results cannot be screened for a certain parameter's influence and contribution. In this study, based on the dynamic analyses of the floor response spectra of NPPs, a comprehensive index of the assessed impact for various uncertain parameters is presented and recommended, including the correlation coefficient, the regression slope coefficient and Tornado swing. To compensate for the lack of guidance in the NPP seismic standards, the proposed method can effectively be used to evaluate the contributions of various parameters from the aspects &sensitivity, acuity and statistical swing correlations. Finally, examples are provided to verify the set of indicators from systematic and intuitive perspectives, such as the uncertainty of the impact of the structure parameters and the contribution to the FRS of NPPs. The index is sensitive to different types of parameters, which provides a new technique for evaluating the anti-seismic parameters required for NPPs.
基金financially supported by the Natural Science Foundation of Heilongjiang Province of China (Grant No. LH2020E016)the National Natural Science Foundation of China (Grant No.11472076)。
文摘Offshore platforms are susceptible to structural damage due to prolonged exposure to random loads,such as wind,waves,and currents.This is particularly true for platforms that have been in service for an extended period.Identifying the modal parameters of offshore platforms is crucial for damage diagno sis,as it serves as a prerequisite and foundation for the process.Therefore,it holds great significance to prioritize the identification of these parameters.Aiming at the shortcomings of the traditional Fast Bayesian Fast Fourier Transform(FBFFT) method,this paper proposes a modal parameter identification method based on Automatic Frequency Domain Decomposition(AFDD) and optimized FBFFT.By introducing the AFDD method and Powell optimization algorithm,this method can automatically identify the initial value of natural frequency and solve the objective function efficiently and simply.In order to verify the feasibility and effectiveness of the proposed method,it is used to identify the modal parameters of the IASC-ASCE benchmark model and the j acket platform structure model,and the Most Probable Value(MPV) of the modal parameters and their respective posterior uncertainties are successfully identified.The identification results of the IASC-ASCE benc hmark model are compared with the identification re sults of the MODE-ID method,which verifies the effectivene ss and accuracy of the proposed method for identifying modal parameters.It provides a simple and feasible method for quantifying the influence of uncertain factors such as environmental parameters on the identification results,and also provide s a reference for modal parameter identification of other large structures.
基金Supported by National Key Scientific and Technological Project(Grant No.2010ZX04001-051-031)Key Program of National Natural Science Foundation of China((Grant No.61533014)the Innovative Research Team of Shaanxi Province,China(Grant No.2013KCT-04)
文摘With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking
基金This project is supported by National Natural Science Foundation of China (No.50175094)Excellent PhD Dissertation Foundation of Ministry of Education, China (No.200048).
文摘The lateral stability for railway vehicle dynamic system with uncertainparameters and nonlinear uncertain force vector is studied by using the Lyapunov stability theory. Arobust stability condition for the considered system is derived, and the obtained stability boundsare not necessarily symmetric with respect to the origin in the parameter space. The lateralstability analysis for a railway bogie model is analyzed by using the proposed approach. Thesymmetric and asymmetric results are both given and the influence of the adjustable parameter betaon the stability bounds is also discussed. With the help of the proposed method, the robuststability analysis can provide a reference for the design of the railway vehicle systems.
文摘The finite-time synchronization of fractional-order multi-weighted complex networks(FMCNs)with uncertain parameters and external disturbances is studied.Firstly,based on fractional calculus characteristics and Lyapunov stability theory,quantized controllers are designed to guarantee that FMCNs can achieve synchronization in a limited time with and without coupling delay,respectively.Then,appropriate parameter update laws are obtained to identify the uncertain parameters in FMCNs.Finally,numerical simulation examples are given to validate the correctness of the theoretical results.
基金supported by the National Natural Science Foundation of China (Grants 11002013, 11372025)the Defense Industrial Technology Development Program (Grants A0820132001, JCKY2013601B)+1 种基金the Aeronautical Science Foundation of China (Grant 2012ZA51010)111 Project (Grant B07009) for support
文摘In this paper, based on the second-order Taylor series expansion and the difference of convex functions algo- rithm for quadratic problems with box constraints (the DCA for QB), a new method is proposed to solve the static response problem of structures with fairly large uncertainties in interval parameters. Although current methods are effective for solving the static response problem of structures with interval parameters with small uncertainties, these methods may fail to estimate the region of the static response of uncertain structures if the uncertainties in the parameters are fairly large. To resolve this problem, first, the general expression of the static response of structures in terms of structural parameters is derived based on the second-order Taylor series expansion. Then the problem of determining the bounds of the static response of uncertain structures is transformed into a series of quadratic problems with box constraints. These quadratic problems with box constraints can be solved using the DCA approach effectively. The numerical examples are given to illustrate the accuracy and the efficiency of the proposed method when comparing with other existing methods.