Nonlinear and chaos control of a micro-electro-mechanical system by using second-order fast terminal sliding mode control

In this paper, a novel second-order fast terminal sliding mode control (SFTSMC) scheme is proposed to suppress the chaotic motion of a micro-mechanical resonator with system uncertainty and external disturbance. To obtain a better disturbance rejection property, a fuzzy logic system is introduced to estimate the upper boundary of the sum of system uncertainty and external disturbance. Moreover, we employ the finite-time technique to obtain the properties of fast response and high precision. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme.     

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.     

Active disturbance rejection control based on weighed-moving-average-state-observer

In this work, we are concerned with the boundary stabilization of a one-dimensional anti-stable wave equation corrupted by a boundary disturbance. We firstly propose, by weighed moving average technique, a state observer to make an estimation of the disturbance. Secondly, we design a control by the active disturbance rejection strategy to stabilize the system.     

状态和控制均含时滞的受外界扰动的线性系统的最优控制

主要研究一类受外界持续扰动且状态和控制含不同时滞的线性系统的最优控制,首先通过变量代换,将系统化为控制不含时滞的滞后型微分系统.接着使用最优控制的极大值原理的必要条件,得到含超前和滞后项的两点边值问题.为了得到最优控制律的解析解,引进一个灵敏参数ε,得到两点边值问题序列,通过迭代法,得到最优控制律的解析解.并对外界扰动状态构造降维观测器,来实现最优控制律的物理可实现性.最后实例验证了上述方法的有效性.     

Adaptive Constrained Control of Unknown Strict Feedback Nonlinear Systems With Dead Zone Input北大核心CSCD

研究了具有死区输入的预设约束未知高阶严格反馈非线性系统的控制问题,提出了一种基于免疫函数的自抗扰预设漏斗约束自适应控制策略。首先,针对系统内部的未知问题,采用免疫函数与扩张状态观测器结合对系统内部未知项进行观测;其次,通过Lyapunov方法与漏斗控制相结合设计控制器,使得跟踪误差能够维持在预先设定的漏斗约束范围内;同时,利用双曲正切函数速率变化快这一特性设计自适应控制律,引入指令滤波器避免反步法中重复求导问题,分析证明了闭环系统所有信号的有界性。仿真实例表明了控制方法的有效性。     

Robust synchronization of drive–response chaotic systems via adaptive sliding mode control

A robust adaptive sliding control scheme is developed in this study to achieve synchronization for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance uncertainties, an adaptive sliding mode controller is then constructed without requiring the bounds of parameter and disturbance uncertainties to be known in advance. It is proven that the proposed adaptive sliding mode controller can maintain the existence of sliding mode in finite time in uncertain chaotic systems. Finally, numerical simulations are presented to show the effectiveness of the proposed control scheme.     

Robust Transferable Sets of Linear Transferring Strategies

The problem of transferring a controlled linear system with a disturbance to a prescribed target set (a hyperplane at a prescribed time instant) is considered. The control and disturbance are subject to geometrical constraints. The original transfer problem is reduced to a scalar one. Then, for a given transferring linear feedback strategy, the respective transferable set is studied, i.e. the set of all the initial positions in the time/state plane, from which the target set is reached, respecting the control constraints, against any admissible disturbance. Necessary and sufficient conditions for the existence of the transferable set are derived, its set-theoretical properties are established, the algorithm of its boundary construction is proposed, the boundary smoothness is studied. Illustrative examples are presented.     

Disturbance rejection in robust PdE-based MRAC laws for uncertain heterogeneous multiagent networks under boundary reference

Disturbance is a pervasive source of uncertainty in most applications. This paper presents model reference adaptive control (MRAC) laws for uncertain multiagent networks with a disturbance rejection capability. The algorithms proposed can also be viewed as the extension of the robust model reference adaptive control (MRAC) laws with disturbance rejection recently derived for systems described by parabolic and hyperbolic partial differential equations (PDEs) with spatially-varying parameters under distributed sensing and actuation to heterogeneous multiagent networks characterized by parameter uncertainty. The latter extension is carried out using partial difference equations (PdEs) on graphs that preserve parabolic and hyperbolic like cumulative network behavior. Unlike in the PDE case, only boundary input is specified for the reference model. The algorithms proposed directly incorporate this boundary reference input into the reference PdE to generate the distributed admissible reference evolution profile followed by the agents. The agent evolution thus depends only on the interaction with the adjacent agents, making the system fully decentralized. Numerical examples are presented as well. The resulting PdE MRAC laws inherit the robust linear structure of their PDE counterparts.     

热传导方程小波解的点态收敛

本文主要考虑热传导方程uxx=ut,0≤x<1,t≥0;u(1,t)=g(t),其中边界条件g(t)为已知函数．此定解问题为一不适定问题,也就是说当边界条件有微小扰动时,将会引起解大的扰动．本文将利用多分辨率分析构造一小波解,且证明此解是适定的,并给出所定义小波解与定解问题的真正解在点态意义下的误差估计．     

Control with a Guide in the Guarantee Optimization Problem under Functional Constraints on the Disturbance

A motion control problem for a dynamic system under disturbances is considered on a finite time interval. There are compact geometric constraints on the values of the control and disturbance. The equilibrium condition in the small game is not assumed. The aim of the control is to minimize a given terminal performance index. The guaranteed result optimization problem is posed in the context of the game-theoretical approach. In the case when realizations of the disturbance belong to some a priori unknown compact subset of L₁ (the space of functions that are Lebesgue summable with the norm), we propose a new discrete-time control procedure with a guide. The proximity between the motions of the system and the guide is provided by the dynamic reconstruction of the disturbance. The quality of the control process is achieved by using an optimal counter-strategy in the guide. Conditions on the equations of motion under which this procedure ensures an optimal guaranteed result in the class of quasi-strategies are given. The scheme of the proof makes it possible to estimate the deviation of the realized value of the performance index from the value of the optimal result depending on the discretization parameter. Illustrative examples are given.     

Nonlinear adaptive output feedback robust control of hydraulic actuators with largely unknown modeling uncertainties

In this paper, a nonlinear adaptive output feedback robust controller is proposed for motion control of hydraulic servo systems in the presence of largely unknown matched and mismatched modeling uncertainties. Different from the existing control technologies, the presented hydraulic closed-loop controller which can deal with strong matched and mismatched parametric uncertainties is synthesized via the backstepping technique. Specially, a nonlinear disturbance observer which can estimate the largely mismatched disturbance is integrated into the design of the linear extended state observer to obtain estimation of unmeasurable system states, uncertain parameters and strong disturbances simultaneously. In addition, the projection-type adaptive law is synthesized into the design of the resulting controller. More importantly, the global stability of the whole closed-loop system is strictly guaranteed by the Lyapunov analysis. Furthermore, the effectiveness and practicability of the presented control strategy have been demonstrated by comparative experiments under different working conditions.     

A Boundary Element Approximation of a Signorini Problem with Friction Obeying Coulomb Law

In this work, a Signorini problem with Coulomb friction in two dimensional elasticity is considered. Based on a new representation of the derivative of the double-layer potential, the original problem is reduced to a system of variational inequalities on the boundary of the given domain. The existence and uniqueess of this system are established for a small frictional coefficient. The boundary element approximation of this system is presented and an error estimate is given.     

Riccati equations for generalized singular estimate control systems

We consider the Bolza problem associated with boundary/point control systems governed by strongly continuous semigroups. In continuation of our work in Lasiecka and Tuffaha [I. Lasiecka and A. Tuffaha, Riccati equations for the Bolza problem arising in boundary/point control problems governed by C ₀–semigroups satisfying a singular estimate, J. Optim. Theory Appl. 136 (2008), pp. 229–246; I. Lasiecka and A. Tuffaha, A Bolza optimal synthesis problem for singular estimate control systems, Control Cybernet 38(4B) (2009), pp. 1429–1460], we yet extend the theory to a more general class of control problems that are not analytic providing sharp blow-up rates for the regularity. Solvability of the associated Riccati equations and an optimal feedback synthesis are established. The presence of unbounded control actions, such as boundary/point controls, naturally lead to a singularity at the terminal point t?=?T of the optimal control and of the corresponding feedback operator as before. The class of control systems considered in this article is a generalization to the class usually referred to in the literature as ‘Singular Estimate Control Systems’. The prototype is still that of a PDE system consisting of coupled hyperbolic parabolic dynamics interacting on an interface with point/boundary control. The distinct feature of the class considered in this article is that the degree of unboundedness in the control is stronger than that allowed in the usual singular estimate control system configuration, giving rise to less regular optimal state trajectories.     

Active Disturbance Rejection Control of Quadrotor UAVs Based on Joint Observation and Feedforward Compensation北大核心CSCD

为解决模型参数不确定与外界干扰影响下,四旋翼无人机飞控作业中姿态与轨迹跟踪精度下降,反应迟缓的问题,利用拓展Kalman滤波应对非线性系统问题出色的适应能力和噪声抑制能力,对四旋翼状态信息进行初步估算来抑制高频信号干扰,从而降低了扩张状态观测器的估计负担.同时,与扩张状态观测器联合估计由系统不确定性参数与外界扰动联合组成的“总扰动”,使系统对于精确模型的依赖性降低,并利用扰动估计的微分值进行前馈补偿,以提高对突变扰动的跟踪精度,克服了突变干扰下的相位滞后现象.综合联合观测器、带前馈补偿的LESO及带误差补偿的PD控制律,形成了一种利用拓展Kalman滤波与前馈补偿后的扩张状态观测器联合观测扰动,能较大程度抑制高频噪声和突变扰动的改进型自抗扰控制器.仿真与实验结果表明,联合观测器能有效地减小观测误差幅值且能超前校正观测相位滞后,从而更好地得到更精确的状态信息,改进型自抗扰控制器能更好地满足四旋翼飞行器快速反应、高效稳定的控制要求,精准高效地完成复杂轨迹跟踪.     

Insensitizing controls for the parabolic equation with equivalued surface boundary conditions

This paper is devoted to the study of the existence of insensitizing controls for the parabolic equation with equivalued surface boundary conditions. The insensitizing problem consists in finding a control function such that some energy functional of the equation is locally insensitive to a perturbation of the initial data. As usual, this problem can be reduced to a partially null controllability problem for a cascade system of two parabolic equations with equivalued surface boundary conditions. Compared the problems with usual boundary conditions, in the present case we need to derive a new global Carleman estimate, for which, in particular one needs to construct a new weight function to match the equivalued surface boundary conditions.     

Well‐posedness and energy decay of solutions to a wave equation with a general boundary control of diffusive type

In this paper, we study well‐posedness and asymptotic stability of a wave equation with a general boundary control condition of diffusive type. We prove that the system lacks exponential stability. Furthermore, we show an explicit and general decay rate result, using the semigroup theory of linear operators and an estimate on the resolvent of the generator associated with the semigroup.     

Switched safe tracking control design for unmanned autonomous helicopter with disturbances

In this paper, the switched safe tracking control scheme is investigated for the attitude and altitude system of a medium-scale unmanned autonomous helicopter with output constraints and unknown external disturbances. To keep the attitude angles and altitude within the desired constrained range, an output boundary protection approach is adopted to generate an output constrained trajectory which is piecewise differentiable. The disturbance observer-based control method is employed to handle the unknown external disturbances of the system. Because of the piecewise differentiability of the output constrained trajectory, the closed-loop error system with the safe tracking controller can be seen as a switched system with jump dynamics. The multiple Lyapunov function method is adopted to guarantee the tracking performance with designed average dwell time. Simulation results of an example are provided to illustrate the effectiveness of the proposed control scheme for the unmanned autonomous helicopter system.     

A trace regularity result for thermoelastic equations with application to optimal boundary control

We consider a mixed problem for a Kirchoff thermoelastic plate model with clamped boundary conditions. We establish a sharp regularity result for the outer normal derivative of the thermal velocity on the boundary. The proof, based upon interpolation techniques, benefits from the exceptional regularity of traces of solutions to the elastic Kirchoff equation. This result, which complements recent results obtained by the second and third authors, is critical in the study of optimal control problems associated with the thermoelastic system when subject to thermal boundary control. Indeed, the present regularity estimate can be interpreted as a suitable control-theoretic property of the corresponding abstract dynamics, which is crucial to guarantee well-posedness for the associated differential Riccati equations.     

Divergence of neighbouring optimal state trajectories of a dynamic system

The boundary of the set of possible states of a dynamic system which are attainable in a given time fro an initial state expands in the state space as the system evolves. A random disturbance to the system will perturb this boundary such that even weak, irregular disturbances can lead to the divergence of optimal trajectories which are initially parallel and arbitrarily close. It is shown how the statistics of the relative separation between such neighbouring optimal trajectories can be obtained for a second order dynamic system.