Resilient dissipative dynamic output feedback control for uncertain Markov jump Lur’e systems with time-varying delays

The resilient dissipative dynamic output feedback control problem for a class of uncertain Markov jump Lur’e systems with piecewise homogeneous transition probabilities and time-varying delays in the discrete-time domain are examined in this study. The designed controller can tolerate additive uncertainties in the controller gain matrix, which result from controller implementations. The time-varying delays are also supposed to be mode-dependent with lower and upper bounds known a priori. By constructing a Lyapunov–Krasovskii functional candidate, the sufficient conditions regarding the existence of desired resilient dissipative controllers are obtained in terms of linear matrix inequalities, thereby ensuring that the resulting closed-loop system is stochastically stable and strictly dissipative. Two numerical examples were established to illustrate the effectiveness of the proposed theoretical results.     

First steps toward formal controller synthesis for bipedal robots with experimental implementation

Bipedal robots are prime examples of complex cyber–physical systems (CPSs). They exhibit many of the features that make the design and verification of CPS so difficult: hybrid dynamics, large continuous dynamics in each mode (e.g., 10 or more state variables), and nontrivial specifications involving nonlinear constraints on the state variables. In this paper, we propose a two-step approach to formally synthesize controllers for bipedal robots so as to enforce specifications by design and thereby generate physically realizable stable walking. In the first step, we design outputs and classical controllers driving these outputs to zero. The resulting controlled system evolves on a lower dimensional manifold and is described by the hybrid zero dynamics governing the remaining degrees of freedom. In the second step, we construct an abstraction of the hybrid zero dynamics that is used to synthesize a controller enforcing the desired specifications to be satisfied on the full order model. Our two step approach is a systematic way to mitigate the curse of dimensionality that hampers the applicability of formal synthesis techniques to complex CPS. Our results are illustrated with simulations showing how the synthesized controller enforces all the desired specifications and offers improved performance with respect to a classical controller. The practical relevance of the results is illustrated experimentally on the bipedal robot AMBER 3.     

Computational method for optimal control of switched systems with input and state constraints

In this paper, we consider an optimal control problem of switched systems with input and state constraints. Since the complexity of such constraint and switching laws, it is difficult to solve the problem using standard optimization techniques. In addition, although conjugate gradient algorithms are very useful for solving nonlinear optimization problem, in practical implementations, the existing Wolfe condition may never be satisfied due to the existence of numerical errors. And the mode insertion technique only leads to suboptimal solutions, due to only certain mode insertions being considered. Thus, based on an improved conjugate gradient algorithm and a discrete filled function method, an improved bi-level algorithm is proposed to solve this optimization problem. Convergence results indicate that the proposed algorithm is globally convergent. Three numerical examples are solved to illustrate the proposed algorithm converges faster and yields a better cost function value than existing bi-level algorithms.     

A hybrid feedback control strategy for autonomous waypoint transitioning and loitering of unmanned aerial vehicles

We consider the problem of autonomously controlling a fixed-wing aerial vehicle to visit a neighborhood of a pre-defined waypoint, and when nearby it, loiter around it. To solve this problem, we propose a hybrid feedback control strategy that unites two state-feedback controllers: a transit controller capable of steering or transitioning the vehicle to nearby the waypoint and a loiter controller capable of steering the vehicle about a loitering radius. The aerial vehicle is modeled on a level flight plane with system performance characterized in terms of the aerodynamic, propulsion, and mass properties. Thrust and bank angle are the control inputs. Asymptotic stability properties of the individual control algorithms, which are designed using backstepping, as well as of the closed-loop system, which includes a hybrid algorithm uniting the two controllers, are established. In particular, for this application of hybrid feedback control, Lyapunov functions and hybrid systems theory are employed to establish stability properties of the set of points defining loitering. The analytical results are confirmed numerically by simulations.     

Distributed adaptive switching consensus control of heterogeneous multi-agent systems with switched leader dynamics

In this paper, the leader-following distributed consensus control problem is addressed for general linear multi-agent systems with heterogeneous uncertain agent dynamics and switched leader dynamics. Different from most existing results with a single linear time-invariant (LTI) leader dynamics, the leader dynamics under consideration is composed by a family of LTI models and a switching logic governing the switches among them, which is capable of generating more diverse and sophisticated reference signals to accommodate more complicated consensus control design tasks. A novel distributed adaptive switching consensus protocol is developed by incorporating the model reference adaptive control mechanism and arbitrary switching control technique, which can be synthesized by following a two-layer hierarchical design scheme. A numerical example has been used to demonstrate the effectiveness of the proposed approach.     

The complementary effect between biochar and ferrihydrite in sustainable Fenton-like oxidation of pollutant

Biochar (BC) and ferrihydrite (Fh) were used together in activation of H₂O₂ for removal of sulfamethazine (SMZ), a refractory antibiotic pollutant. The results show a complementary effect between biochar and ferrihydrite on activation of H₂O₂, namely biochar accelerated Fe(Ⅲ)/Fe(Ⅱ) cycle through electron donation/transfer, while ferrihydrite enhanced the yield of ^•OH through a sustainable release of dissolved Fe. Thus several times more ^•OH was produced in the co-activated system (BC + Fh/H₂O₂) than either in the ferrihydrite-catalyzed Fenton-like system (Fh/H₂O₂) or in the biochar-activated system (BC/H₂O₂). Consequently, a more efficient oxidation of SMZ was observed in BC + Fh/H₂O₂, in which the reaction rate constant (k_obs) is 30.7 times in Fh/H₂O₂ and 6.08 times in BC/H₂O₂, respectively. This research provides a simple and sustainable strategy for enhancing the efficiency of Fenton-like oxidation of pollutants.     

Benefiting from information-rich multi-frequency AC voltammetry coupled with chemometrics on the example of on-line monitoring of leveler component of electroplating bath

Simultaneous application of multiple sinusoidal waveforms perturbations superimposed onto DC staircase step significantly enriches current response. The measured current is characterized by a matrix of data rather than a conventional voltammetric output in a form of a vector. This increase of the dimensionality of the current response and therefore the wealth of analytical information is achieved without compromising the time of analysis. The natural approach for compression of such data and extraction of relevant information is by utilizing multi-way chemometric decomposition techniques. An electroplating solution presents a very challenging analyte for electroanalysis as its constituents interact synergistically with each other during both the plating process and its simulation during electroanalysis. For some components the mechanism is not entirely understood. Therefore, the only way to benefit from the analytical data is by employing soft modeling. The electrode processes involving additives rely heavily on adsorption and, indirectly, on electron transfer kinetics for which AC voltammetry is an analytical technique capable of delivering informative signals. This paper presents a rigorous universal method for calculating and validating an exemplary multi-way calibration of a leveler component in a copper electroplating bath used in the semiconductor industry. The method presented employs comparatively Parallel Factor Analysis coupled with Inverse Least Squares Regression and multi-linear Partial Least Squares. The calibration training set consists of multi-frequency AC voltammetric data subjected to pretreatments aiming to select informative independent variables and exclude outliers.     

Identification and quality evaluation of different processed products of Aconitum carmichaelii by ultra-high-performance liquid chromatography-quadrupole time-of-flight tandem mass spectrometry and ultra-high-performance liquid chromatography-tandem mass spectrometry

Aconitum carmichaelii is widely used to treat chronic and intractable diseases due to its remarkable curative effect, but it is also a highly toxic herb with severe cardiac and neurotoxicity. It has been combined with honey for thousands of years to reduce toxicity and enhance efficacy, but there has been no study on the chemical constituent changes in the honey-processing so far. In this study, the chemical constituents of A. carmichaelii before and after honey-processing were characterized by ultra-high-performance liquid chromatography-quadrupole time-of-flight tandem mass spectrometry. The results showed that a total of 118 compounds were identified, of which six compounds disappeared and five compounds were newly produced after honey-processing, and the cleavage pathway of main components was elucidated. At the same time, 25 compounds were found to have significant effects on different products, among which four compounds with the biggest difference were selected for quantitative analysis by ultra-high-performance liquid chromatography-tandem mass spectrometry. This study not only explained the chemical differences between the different products, but also helped to control the quality of the honey-processed products more effectively, and laid a foundation for further elucidating the mechanism of chemical constituent change during the honey-processing of A. carmichaelii.     

Qualitative identification and quantitative comparison of Physochlainae Radix from different regions based on chemometric methods

Physochlainae Radix (PR) is an essential herbal medicine that has been generally applied for treating cough and asthma. In this study, a comprehensive strategy for quality evaluation of PR from different origins was established by integrating qualitative identification, quantitative analysis, and chemometric methods. A total of 58 chemical components were identified by ultra-high-performance liquid chromatography coupled with quadrupole time-of-flight tandem mass spectrometry (UHPLC-Q-TOF-MS/MS), and a sensitive and rapid UHPLC-QqQ-MS/MS method was established for the simultaneous determination of 12 compounds. In addition, multivariate statistical analysis was applied for discriminant analysis to compare the differences among 30 batches of PR samples. The results showed that the 30 batches of PR collected from four provinces could be clustered into three categories, in which scoparone, protocatechuic acid, tropic acid, and scopolin were important components to distinguish the primary and non-primary producing areas, as well as superior and inferior products of PR. Chemometric results were consistent and validated each other, and systematically explained the intrinsic quality characteristics of PR. This study first demonstrated that LC-MS combined with multivariate statistical analysis, provided a comprehensive and effective means for quality evaluation of PR.