Chaos control in AFM system using sliding mode control by backstepping design

This paper presents a robust algorithm to control the chaotic atomic force microscope system (AFMs) by backstepping design procedure. The proposed feedback controller is composed by a sliding mode control (SMC) and a backstepping feedback, so its implementation is quite simple and can be made on the basis of the measured signal. The developed control scheme allows chaos suppression despite uncertainties in the model as well as system external disturbances. The concept of extended system is used such that a continuous sliding mode control effort is generated using backstepping scheme. It is guaranteed that under the proposed control law, uncertain AFMs can asymptotically track target orbits. The converging speed of error states can be arbitrary turned by assigning the corresponding dynamics of the sliding surfaces. Numerical simulations demonstrate its advantages by stabilizing the unstable periodic orbits of the AFMs and this method can also be easily extended to elimination chaotic motion in any types of chaotic AFMs.     

Boundary output feedback stabilization for a class of coupled parabolic systems

In this paper, the boundary output feedback stabilization problem is addressed for a class of coupled nonlinear parabolic systems. An output feedback controller is presented by introducing a Luenberger‐type observer based on the measured outputs. To determine observer gains, a backstepping transform is introduced by choosing a suitable target system with nonlinearity. Furthermore, based on the state observer, a backstepping boundary control scheme is presented. With rigorous analysis, it is proved that the states of nonlinear closed‐loop system including state estimation and estimation error of plant system are locally exponentially stable in the L²norm. Finally, a numerical example is proposed to illustrate the effectiveness of the presented scheme.     

A neighboring optimal feedback control scheme for systems using discontinuous control

The calculation and implementation of the neighboring optimal feedback control law for multiinput, nonlinear dynamical systems, using discontinuous control, is the subject of this paper. The concept of neighboring optimal feedback control of systems with continuous, unbounded control functions has been investigated by others. The differentiating features between this class of problems and that considered here are the control discontinuities and the inherent system uncontrollability during the latter stages of the control-law operating time.The neighboring control law is determined by minimizing the second-order terms in the expansion of the performance index about an optimal nominal path. The resulting gains are a function of the states associated with the nominal trajectory. The development of a feedback control scheme utilizing these gains requires a technique for choosing the gains appropriate for each neighboring state. Such a technique is described in this paper. The technique combines abootstrap algorithm for determining the number of neighboring switch times and the initial and final controls with a scheme based ontime-to-go along the nominal and neighboring paths until the next predicted switch time or the predicted final time. This scheme requires that the nominal state, which is used to specify the feedback gains, be chosen such that the predicted time-to-go from the neighboring state be identical to the time-to-go from the nominal state. This technique for choosing feedback gains possesses minimal storage requirements and readily leads to a real-time feedback implementation of the neighboring control law.The optimal feedback control scheme described in this paper is utilized to solve the minimum-time satellite attitude-acquisition problem. The action of the neighboring control scheme when applied to states which do not lie in an immediate neighborhood of the nominal path is investigated. For this particular problem, the neighboring control scheme performs quite well despite the fact that, when the state perturbations are finite, the terminal constraints can never be satisfied exactly.This research was sponsored by the National Aeronautics and Space Administration under Research Grant No. NGL-05-020-007 and is a condensed version of the investigation described in Ref. 1. The authors are indebted to Professor Arthur E. Bryson, Jr., for suggesting the topic and providing stimulating discussions.     

A novel feedback controller design with robust fault isolation ability

This paper proposes a novel feedback controller design scheme which can achieve fault isolation based on the control signal or its embedded signal, i.e., with the self-fault-isolation ability. First of all, according to the well-known Youla parameterization, a controller structure consisting of state and residual joint feedback is developed. Then, the residual feedback gain and observer gain are designed to make the cooperative structured residual feedback signal have fault isolation ability. Some free design parameters in the two gains are further utilized for robust self-fault-isolation. Moreover, the state feedback gain is designed, in the framework of switched system, to realize the self-fault-diagnosis and isolation, based on the control signal directly. The proposed control structure also has the advantage of cooperative fault tolerance. Finally, the simulation of HVAC (Heating, Ventilation and Air Conditioning) system, composed of four rooms in one story building scenario, is carried out to demonstrate the effectiveness and superiority of the proposed feedback controller design approach.     

Adaptive robust synchronization of Rossler systems in the presence of unknown matched time-varying parameters

This paper deals with the problem of adaptive robust synchronization of chaotic systems based on the Lyapunov theory. A controller is designed for a feedback linearizable error system with matched uncertainties. The proposed method shows that the drive and response systems are synchronized and states of the response system track the states of the drive system as time tends to infinity. Since this approach does not require any information about the bound of uncertainties, this information is not needed in advance. In order to prevent the frequent switching phenomenon in the control signal, the method is modified such that the norm of tracking error is bounded. Numerical simulations on two uncertain Rossler systems with matched uncertainties show fast responses of tracking error, while the errors are Uniformly Ultimately Bounded, and the control signal is reasonably smooth.     

Probabilistic and deterministic convergence proofs for software for initial value problems

The numerical solution of initial value problems for ordinary differential equations is frequently performed by means of adaptive algorithms with user-input tolerance τ. The time-step is then chosen according to an estimate, based on small time-step heuristics, designed to try and ensure that an approximation to the local error commited is bounded by τ. A question of natural interest is to determine how the global error behaves with respect to the tolerance τ. This has obvious practical interest and also leads to an interesting problem in mathematical analysis. The primary difficulties arising in the analysis are that: (i) the time-step selection mechanisms used in practice are discontinuous as functions of the specified data; (ii) the small time-step heuristics underlying the control of the local error can break down in some cases. In this paper an analysis is presented which incorporates these two difficulties. For a mathematical model of an error per unit step or error per step adaptive Runge–Kutta algorithm, it may be shown that in a certain probabilistic sense, with respect to a measure on the space of initial data, the small time-step heuristics are valid with probability one, leading to a probabilistic convergence result for the global error as τ→0. The probabilistic approach is only valid in dimension m>1 this observation is consistent with recent analysis concerning the existence of spurious steady solutions of software codes which highlights the difference between the cases m=1 and m>1. The breakdown of the small time-step heuristics can be circumvented by making minor modifications to the algorithm, leading to a deterministic convergence proof for the global error of such algorithms as τ→0. An underlying theory is developed and the deterministic and probabilistic convergence results proved as particular applications of this theory. This revised version was published online in June 2006 with corrections to the Cover Date.     

Hybrid output regulation for linear impulsive systems with aperiodic jumps: A discrete-time feedback controller design approach

This paper is concerned with the problem of hybrid output regulation for a class of linear impulsive systems with aperiodic jumps. Firstly, by leveraging time-dependent Lyapunov function technique and impulsive control theory, sufficient conditions for achieving output regulation are obtained in state feedback case. Then, the results are extended to error feedback case by constructing an impulsive observer. In this framework, two novel hybrid controllers are designed. Such controllers only need the discrete-time system state or error signal for feedback. The complete procedures for controller designs are also presented. Finally, two illustrative examples, including a numerical example and an LC circuit, are given to show the validity and applicability of the proposed control laws.     

Optimal transmission of “television type” gaussian signals through a noiseless feedback channel

Using the methods and results of the theory of conditionally Gaussian filtering of stochastic processes and fields, an optimal scheme of “television type” signal transmission through a noiseless feedback channel is constructed under the usual power conditions, the signals being evolutionary Gaussian fields θ={θ_t(x)),tε[0,T),xεDεRⁿ . Explicit representations for optimal coding and decoding functionals, which are optimal in the sense of a special square criterion, and the expression for the error of signal reproduction are given.     

Nonfragile H∞ output tracking control for uncertain singular Markovian jump delay systems with network‐induced delays and data packet dropouts

This article deals with the problem of nonfragile H_∞ output tracking control for a kind of singular Markovian jump systems with time‐varying delays, parameter uncertainties, network‐induced signal transmission delays, and data packet dropouts. The main objective is to design mode‐dependent state‐feedback controller under controller gain perturbations and bounded modes transition rates such that the output of the closed‐loop networked control system tracks the output of a given reference system with the required H_∞ output tracking performance. By constructing a more multiple stochastic Lyapunov–Krasovskii functional, the novel mode‐dependent and delay‐dependent conditions are obtained to guarantee the augmented output tracking closed‐loop system is not only stochastically admissible but also satisfies a prescribed H_∞‐norm level for all signal transmission delays, data packet dropouts, and admissible uncertainties. Then, the desired state‐feedback controller parameters are determined by solving a set of strict linear matrix inequalities. A simple production system example and two numerical examples are used to verify the effectiveness and usefulness of the proposed methods. © 2015 Wiley Periodicals, Inc. Complexity 21: 396–411, 2016     

TheM/G/1 queue with processor sharing and its relation to a feedback queue

The central model of this paper is anM/M/1 queue with a general probabilistic feedback mechanism. When a customer completes his ith service, he departs from the system with probability 1–p(i) and he cycles back with probabilityp(i). The mean service time of each customer is the same for each cycle. We determine the joint distribution of the successive sojourn times of a tagged customer at his loops through the system. Subsequently we let the mean service time at each loop shrink to zero and the feedback probabilities approach one in such a way that the mean total required service time remains constant. The behaviour of the feedback queue then approaches that of anM/G/1 processor sharing queue, different choices of the feedback probabilities leading to different service time distributions in the processor sharing model. This is exploited to analyse the sojourn time distribution in theM/G/1 queue with processor sharing.Some variants are also considered, viz., anM/M/1 feedback queue with additional customers who are always present, and anM/G/1 processor sharing queue with feedback.     

Output tracking for an Euler–Bernoulli beam equation with moment boundary control and shear boundary disturbance

This paper is concerned with performance output tracking for an Euler–Bernoulli beam equation with moment boundary control and shear boundary disturbance. An infinite-dimensional disturbance estimator is designed to estimate the total disturbance. By compensating the total disturbance, a servomechanism corresponding to the reference signal and servomechanism-based output feedback control law are designed. It is proved that under such control law, the performance output tracks exponentially the reference signal and the involved states of closed-loop system are bounded. The most important contribution is to deal with the shear boundary term stemmed from the error system between the disturbance estimator and the original system. The admissibility does not hold for such shear boundary term, while the corresponding boundary terms in the existing literature was proved to be admissible. Two key steps are presented to cope with such problem: First, the semigroup generation and exponential stability for a coupled beam system are verified by Riesz basis approach; second, the admissibility of a control operator for semigroup governed by such coupled beam system is proved. Moreover, Sobolev embedding theorem is introduced to simplify the proof of the boundedness of the closed-loop systems with respect to the available literature. Some numerical simulations are presented to illustrate the effectiveness.     

Stabilization of switched linear systems using an improved event-triggered control scheme

This paper is concerned with the event-triggered control of switched linear systems. The coupling of system switching and event-triggered communication raises two phenomena: (1) the update of controller cannot always catch up with the active subsystem; (2) the switching may lead to additional triggers. The first phenomenon is called the asynchronous switching induced by network communication and the second one brings great difficulty to avoid the Zeno behavior of event-triggered mechanism (ETM). To address the above problem, we propose a new ETM which contains the switching signal of models and controllers and the discontinuity of triggering error at switching time instants. A relative threshold strategy, combined with a jump function, is designed as a new threshold function. By introducing a compensation term, the linear feedback control law is extended to avoid the Zeno behavior of ETM and improve the solvability of control algorithm. Based on the proposed event-triggered control scheme, the exponential stabilization of switched systems is achieved with relaxed constraints on the triggering and switching conditions. The obtained results are validated by a numerical example.     

The Monitoring of Exponentially Weighted Forecasts

By considering equivalences between various forecasting systems, the exact stochastic process followed by the one-step-ahead errors may be found. This process, the error process, is important for any monitoring scheme, and is a function of the forecasting system and the underlying data process. The error process is obtained for the most general form of exponential smoothing systems used in optimal conditions. The statistical properties are derived. In particular, the approximate variance of Trigg's smoothed error tracking signal is obtained explicitly for several exponential smoothing systems, and a procedure is given for obtaining it numerically for any such system. The use of different smoothing constants in the forecasting system and the tracking signal is discussed and it is found that suitable choice of the tracking signal constant greatly improves the performance of the signal, making it more comparable with CUSUM schemes.     

Two approaches to optimal routing and admission control in systems with real-time traffic

This paper addresses the problem of routing and admission control of real-time traffic in a queueing system where customers must begin service within given deadlines (or complete service within given deadlines), otherwise they are considered lost. Performance in such systems is measured by the probability a customer is lost. For a system ofK parallel servers with a probabilistic routing and admission control scheme, the problem of the optimal routing and admission control is considered and two approaches are presented. Assuming the availability of a closed-form expression for the probability of loss at each server, the problem is solved under general conditions and properties of the optimal flow allocation are given. However, such closed-form expressions are often unavailable. This motivates a second approach, which involves a gradient-based stochastic optimization algorithm with on-line gradient estimation. The gradient estimation problem for loss probabilities is solved through a recently-developed smoothed perturbation analysis (SPA) technique. The effectiveness of on-line stochastic optimization using this type of gradient estimator is demonstrated by combining the SPA algorithm with a sampling-controlled stochastic optimization algorithm for the aforementioned routing and admission control problem.This work was supported in part by the Office of Naval Research under Contract N00014-87-K-0304, by the Rome Air Development Center under Contract F30602-88-D-0027, by NASA under Contract NAG 2-595, and by the National Science Foundation under Grant EID-92-12122.The authors are grateful to Don Towsley for several contributions to Section 2 and to an anonymous reviewer for pointing out a redundant assumption in the proof of Lemma 2.1.     

Robust anti-synchronization of uncertain chaotic systems based on multiple-kernel least squares support vector machine modeling

In this paper, we propose a robust anti-synchronization scheme based on multiple-kernel least squares support vector machine (MK-LSSVM) modeling for two uncertain chaotic systems. The multiple-kernel regression, which is a linear combination of basic kernels, is designed to approximate system uncertainties by constructing a multiple-kernel Lagrangian function and computing the corresponding regression parameters. Then, a robust feedback control based on MK-LSSVM modeling is presented and an improved update law is employed to estimate the unknown bound of the approximation error. The proposed control scheme can guarantee the asymptotic convergence of the anti-synchronization errors in the presence of system uncertainties and external disturbances. Numerical examples are provided to show the effectiveness of the proposed method.     

Robust Chaotic Synchronization for a Class of Disturbed Nonlinear Systems with Multiple Equilibria

This study concerns with the robust H _∞ synchronization problem for a class of nonlinear feedback control systems, which are subject to a vector-valued periodic nonlinearity in the feedback path. Under such synchronization configuration, the master system is assumed to be subject to an energy bounded input disturbance, and the slave one is under control. Sufficient conditions for controller design are proposed in terms of linear matrix inequalities by respectively utilizing the output feedback control and the dynamic output control strategies, such that the master system robustly synchronizes the slave one with a guaranteed H _∞ performance. The derived methods can be applied to the robust H _∞ synchronization of many practical systems, and effectiveness of the obtained results are demonstrated through a concrete example of phase-locked loops (PLL).     

肌型血管生物数学模型的非线性状态反馈同步

用非线性状态反馈方法研究肌型血管生物数学模型的同步问题,利用驱动系统与响应系统的误差信号,通过施加反馈控制,设计一个单变量非线性反馈控制器,使响应系统跟踪驱动系统,即误差系统渐近稳定到平衡点,从而实现了两个混沌系统在单变量驱动的情况下,消耗更少的能量达到同步,从理论上验证了处于痉挛状态下的血管运动可以与正常血管运动同步,为有效防治和治疗心肌梗塞等疾病提供一定的理论依据.仿真结果表明了此方法的有效性.     

Output feedback control for MIMO nonlinear systems using factorization

A new output feedback adaptive control scheme for multi-input and multi-output (MIMO) nonlinear systems is presented based on the high frequency gain matrix factorization and the backstepping approach with vector form. The only required prior knowledge about the high frequency gain matrix of the linear part of the system is the signs of its leading principal minors. The proposed controller is a dynamic one that only needs the measurement of the system output, and the observer and the filters are introduced in order to construct a virtual estimate of the unmeasured system states. The global stability of the closed-loop systems is guaranteed through this control scheme, and the tracking error converges to zero. Finally, the numerical simulation results illustrate the effectiveness of the proposed scheme.     

Various Feedforward Schemes and a Passivity Based Backstepping Feedback Control of an Elastic Robot

Lightweight constructions in industry plants lead to elastic deflections causing vibrations and a loss in tracking precision. In order to keep the tracking error for these elastic multibody systems low, the proposed control strategies are combinations of feedforward and feedback schemes. In this work various implemented strategies for computing a feedforward control are proposed and compared, which can be calculated with some simplifications from the mathematical model of the elastic multibody system. Some of these are considering the elastic deflections. The stabilization of the error dynamics is achieved by a simple PD-joint control or passivity based backstepping. In this algorithm the system is split into subsystems and for these subsystems simple control concepts can be applied. The feedback control law of the total system is obtained by means of backstepping theory, considering the internal energy flows in the system. Experimental results are presented to verify the control strategies. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)