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...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.展开更多
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...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.展开更多
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 adapt...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.展开更多
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.
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 co...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.展开更多
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...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.展开更多
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。...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。展开更多
基于欠驱动机械系统的动力学,分析了其驱动模式;为了便于欠驱动机械系统的控制设计,针对具有动能对称性的欠驱动机械系统,提出了一种闭环全局坐标变换方案.该方案将欠驱动机械系统的动力学转换成具有结构特征的级联规范型(即严格反馈、...基于欠驱动机械系统的动力学,分析了其驱动模式;为了便于欠驱动机械系统的控制设计,针对具有动能对称性的欠驱动机械系统,提出了一种闭环全局坐标变换方案.该方案将欠驱动机械系统的动力学转换成具有结构特征的级联规范型(即严格反馈、严格前馈和非三角级联非线性系统),并分别给出了Pendubot、倒立摆系统和TORA(T ranslationa l O sc illator w ith R otationa l A ctuator)系统的级联规范型.展开更多
提出了利用向量场正规形方法分析电力系统在不同运行条件下的非线性行为,以非线性参与因子衡量节点对静态电压稳定性的重要程度,并以此确定电力系统中无功补偿设备的有效安装位置。在New England 39节点系统上进行了算例分析,验证了该...提出了利用向量场正规形方法分析电力系统在不同运行条件下的非线性行为,以非线性参与因子衡量节点对静态电压稳定性的重要程度,并以此确定电力系统中无功补偿设备的有效安装位置。在New England 39节点系统上进行了算例分析,验证了该方法的正确性和有效性。展开更多
文摘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.
基金National Natural Science Foundation of China(No.61374024)
文摘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.
文摘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.
基金Project supported by the National Natural Science Foundation of China
文摘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.
文摘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.
基金supported by the National Natural Science Foundation of China under Grant Nos.G60774009,61074068,61034007,61374065,and 61304033the Research Fund for the Doctoral Program of Chinese Higher Education under Grant No.200804220028+1 种基金the Natural Science Foundation of Shandong Province under Grant Nos.ZR2013ZEM006,ZR2011EL021,BS2011ZZ012,2013ZRB01873Colleges and Universities in Shandong Province Science and Technology Project under Grant Nos.J13LN37 and J12LN29
文摘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.
文摘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。
文摘基于欠驱动机械系统的动力学,分析了其驱动模式;为了便于欠驱动机械系统的控制设计,针对具有动能对称性的欠驱动机械系统,提出了一种闭环全局坐标变换方案.该方案将欠驱动机械系统的动力学转换成具有结构特征的级联规范型(即严格反馈、严格前馈和非三角级联非线性系统),并分别给出了Pendubot、倒立摆系统和TORA(T ranslationa l O sc illator w ith R otationa l A ctuator)系统的级联规范型.
