Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

Fractional Motion Control: Application to an XY Cutting Table

In path tracking design, the dynamic of actuators must be taken intoaccount in order to reduce overshoots appearing for small displacements.A new approach to path tracking using fractional differentiation isproposed with its application on a XY cutting table. It permits thegeneration of optimal movement reference-input leading to a minimum pathcompletion time, taking into account both maximum velocity, accelerationand torque and the bandwidth of the closed-loop system. Fractionaldifferentiation is used here through a Davidson–Cole filter. Amethodology aiming at improving the accuracy especially on checkpointsis presented. The reference-input obtained is compared with splinefunction. Both are applied to an XY cutting table model and actuatoroutputs compared.     

分数因子与分数阶完整力学系统的运动方程和循环积分

引入分数因子和分数增量,给出了分数阶微积分的定义和性质;基于分数阶导数的定义,证明了含有分数因子的等时变分与分数阶算子的交换关系;提出了分数阶完整保守和非保守系统的Hamilton原理;建立了分数阶完整保守系统和非保守系统的运动微分方程;得到了分数阶完整保守系统的循环积分;并利用分数阶循环积分导出分数阶罗兹方程．最后给出了两个例子．研究表明利用分数因子给出的分数阶微分方程是一个含有分数因子的通常的微分方程,那么分数阶系统运动微分方程的求解都可以采用通常微分方程的求解方法．     

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

CRONE Control: Principles and Extension to Time-Variant Plants with Asymptotically Constant Coefficients

The principles of CRONE control, a frequency-domain robust control designmethodology based on fractional differentiation, are presented.Continuous time-variant plants with asymptotically constant coefficientsare analysed in the frequency domain, through their representation usingtime-variant frequency responses. A stability theorem for feedbacksystems including time-variant plants with asymptotically constantcoefficients is proposed. Finally, CRONE control is extended to robustcontrol of these plants.     

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

Setvalued Dynamical Systems for Stochastic Evolution Equations Driven by Fractional Noise

We consider Hilbert-valued evolution equations driven by Hölder paths with Hölder index greater than 1/2, which includes the case of fractional noises with Hurst parameters in (1/2,1). The assumptions of the drift term will not be enough to ensure the uniqueness of solutions. Nevertheless, adopting a multivalued setting, we will prove that the set of all solutions corresponding to the same initial condition generates a (multivalued) nonautonomous dynamical system \(\Phi \). Finally, to prove that \(\Phi \) is measurable (and hence a (multivalued) random dynamical system), we need to construct a new metric dynamical system that models the noise with the property that the set space is separable.

     

Correction to: Time and Space Fractional Diffusion in Finite Systems

Additive manufacturing technology, or 3D printing, with silica sand has enabled the manufacture of porous rock analogues for the use in experimental studies of geomechanical properties of reservoir rocks. The accurate modelling of the fluid flow phenomena within a reservoir and improving the performance of hydrocarbon recovery require an understanding of physical and chemical interactions of the reservoir fluids and the rock matrix. Therefore, for the 3D printed samples to serve as rock analogues, flow properties have to be equivalent to the petrophysical properties of their natural counterparts, such as Berea sandstone. In this study, sandstones that were 3D printed with silica sand and Poly-Furfuryl alcohol (PFA) binder, were used to investigate interactions between porous media with different fluids. Wettability preference of 3D printed samples was characterized through contact angle measurements, as well as co-current and counter-current spontaneous imbibition experiments. Results indicated that 3D printed sandstones had mixed-wet characteristics due to the high preference of silica grains for polar fluids and the affinity PFA binder to the oleic phase. Printing configurations including binder saturation were found to greatly influence the wettability preference of the 3D printed analogue rocks as higher PFA concentrations resulted in more strongly oil-wet preferences. Efforts to optimize the printing process and challenges to control the wettability preferences of the 3D printed samples are also highlighted.

     

Averaging Theory of Arbitrary Order for Piecewise Smooth Differential Systems and Its Application

The averaging theory for studying periodic orbits of smooth differential systems has a long history. Whereas the averaging theory for piecewise smooth differential systems appeared only in recent years, where the unperturbed systems are smooth. When the unperturbed systems are only piecewise smooth, there is not an existing averaging theory to study existence of periodic orbits of their perturbed systems. Here we establish such a theory for one dimensional perturbed piecewise smooth periodic differential equations. Then we show how to transform planar perturbed piecewise smooth differential systems to one dimensional piecewise smooth periodic differential equations when the unperturbed planar piecewise smooth differential systems have a family of periodic orbits. Finally as application of our theory we study limit cycle bifurcation of planar piecewise differential systems which are perturbation of a \(\Sigma \)-center.     

A General Formulation and Solution Scheme for Fractional Optimal Control Problems

Accurate modeling of many dynamic systems leads to a set of Fractional Differential Equations (FDEs). This paper presents a general formulation and a solution scheme for a class of Fractional Optimal Control Problems (FOCPs) for those systems. The fractional derivative is described in the Riemann–Liouville sense. The performance index of a FOCP is considered as a function of both the state and the control variables, and the dynamic constraints are expressed by a set of FDEs. The Calculus of Variations, the Lagrange multiplier, and the formula for fractional integration by parts are used to obtain Euler–Lagrange equations for the FOCP. The formulation presented and the resulting equations are very similar to those that appear in the classical optimal control theory. Thus, the present formulation essentially extends the classical control theory to fractional dynamic system. The formulation is used to derive the control equations for a quadratic linear fractional control problem. An approach similar to a variational virtual work coupled with the Lagrange multiplier technique is presented to find the approximate numerical solution of the resulting equations. Numerical solutions for two fractional systems, a time-invariant and a time-varying, are presented to demonstrate the feasibility of the method. It is shown that (1) the solutions converge as the number of approximating terms increase, and (2) the solutions approach to classical solutions as the order of the fractional derivatives approach to 1. The formulation presented is simple and can be extended to other FOCPs. It is hoped that the simplicity of this formulation will initiate a new interest in the area of optimal control of fractional systems.     

A General Formulation and Solution Scheme for Fractional Optimal Control Problems

Accurate modeling of many dynamic systems leads to a set of Fractional Differential Equations (FDEs). This paper presents a general formulation and a solution scheme for a class of Fractional Optimal Control Problems (FOCPs) for those systems. The fractional derivative is described in the Riemann–Liouville sense. The performance index of a FOCP is considered as a function of both the state and the control variables, and the dynamic constraints are expressed by a set of FDEs. The Calculus of Variations, the Lagrange multiplier, and the formula for fractional integration by parts are used to obtain Euler–Lagrange equations for the FOCP. The formulation presented and the resulting equations are very similar to those that appear in the classical optimal control theory. Thus, the present formulation essentially extends the classical control theory to fractional dynamic system. The formulation is used to derive the control equations for a quadratic linear fractional control problem. An approach similar to a variational virtual work coupled with the Lagrange multiplier technique is presented to find the approximate numerical solution of the resulting equations. Numerical solutions for two fractional systems, a time-invariant and a time-varying, are presented to demonstrate the feasibility of the method. It is shown that (1) the solutions converge as the number of approximating terms increase, and (2) the solutions approach to classical solutions as the order of the fractional derivatives approach to 1. The formulation presented is simple and can be extended to other FOCPs. It is hoped that the simplicity of this formulation will initiate a new interest in the area of optimal control of fractional systems.     

Dynamical Methods for Linear Hamiltonian Systems with Applications to Control Processes

The nonautonomous version of the Yakubovich Frequency Theorem characterizes the solvability of an infinite horizon optimization problem in terms of the validity of the Frequency and Nonoscillation Conditions for a linear Hamiltonian system, which is defined from the coefficients of the quadratic functional to be minimized. This paper describes those nonautonomous linear Hamiltonian systems satisfying the required properties. Two groups appear, depending on whether they are uniformly weakly disconjugate or not. It also contains a previous analysis of the long-term behavior of the Grassmannian and Lagrangian flows under the presence of exponential dichotomy, which is required for the classification and has interest by itself.     

管流系统的可控扰动装置及其应用

阐述了具有可控人工扰动装置的低背景湍动液体管流系统的研制和评价要点在及在高分子减阻液研究中的应用，并指出了这种实验系统在液体内流研究中的重要意义。     

Invariant Manifolds for Nonautonomous Systems with Application to One-Step Methods

In this paper we study the existence of invariant manifolds for a special type of nonautonomous systems which arise in the study of discretization methods. According to [10], a one-step scheme of step-size for an autonomous system can be interpreted as the -flow of a perturbed nonautonomous system. The perturbation is rapidly forced in the sense that it is periodic with respect to time with period . Assuming a saddle node for the autonomous system, we prove that these rapidly forced perturbations have center manifolds which exist in a uniform neighborhood and which converge to a center manifold of the autonomous system as tends to zero. Our results are applied to obtain a smooth continuation as well as estimates of the well known center manifolds for one-step schemes. They also form the basis for studying saddle-node homoclinic orbits under discretization.     

反扰力振动控制理论及其在井塔消振中的应用

应用反扰力振动控制方法，通过施加一个与原扰力在相位上相反的控制力，来抵消原扰力对结构的影响。此法用于实际的矿井井塔建筑结构消振工程，取得了消振９０％以上的显著效果，从而证实了此法的正确性和有效性。此法在动力荷载扰力作用下的建筑结构振动控制工程中，具有重要的应用价值     

Some Aspects of Stability for Semigroup Actions and Control Systems

The present paper introduces both the notions of Lagrange and Poisson stabilities for semigroup actions. Let \(S\) be a semigroup acting on a topological space \(X\) with mapping \(\sigma :S\times X\rightarrow X\) , and let \(\mathcal {F}\) be a family of subsets of \(S\) . For \(x\in X\) the motion \(\sigma _{x}:S\rightarrow X\) is said to be forward Lagrange stable if the orbit \(Sx\) has compact closure in \(X\) . The point \(x\) is forward \(\mathcal {F}\) -Poisson stable if and only if it belongs to the limit set \(\omega \left( x,\mathcal {F}\right) \) . The concept of prolongational limit set is also introduced and used to describe nonwandering points. It is shown that a point \(x\) is \( \mathcal {F}\) -nonwandering if and only if \(x\) lies in its forward \(\mathcal {F} \) -prolongational limit set \(J\left( x,\mathcal {F}\right) \) . The paper contains applications to control systems.     

核-壳结构PS/CeO_2复合磨料的制备及其氧化物化学机械抛光性能

以无皂乳液聚合方法制备的聚苯乙烯(PS)微球为内核,硝酸铈为铈源,六亚甲基四胺为沉淀剂,采用液相工艺制备了PS/CeO2复合颗粒.利用XRD、TEM、SAED、FESEM、EDAX等手段,对所制备样品的物相结构、形貌、粒径大小和元素成分组成进行表征.将所制备的复合磨料用于硅晶片热氧化层的化学机械抛光,用AFM观察抛光表面的微观形貌,并测量表面粗糙度.结果表明,所制备的PS/CeO2复合颗粒具有核-壳结构,呈近似球形,粒径在250～300nm,PS内核表面被粒径在5～10nm的CeO2纳米颗粒均匀包覆,壳层的厚度为10～20nm.抛光后的硅热氧化层表面在5μm×5μm范围内粗糙度Ra值和RMS值分别为0.188nm和0.238nm,抛光速率达到461.1nm/min.     

奇异摄动方法在输电线非线性振动问题中的应用

同一系统内部快变量和慢变量的同时存在往往引发相异于一般系统的特殊效应,比如输电线的松弛振荡.本文推导了架空输电线具有初始垂度的非线性动力学模型,发现该模型是具有快慢变量耦合的数学模型,应用求解周期运动的奇异摄动方法,得到系统的近似解析解,考察了快慢变量对系统周期运动的影响规律.结果表明解析解较数值解略微偏小,但仍有很好的吻合度,说明本文结果的有效性和正确性.进一步计算表明,随着摄动方法应用过程中近似次数的增加,两解逐次接近.     

A Moment Specification Algorithm for Control of Nonlinear Systems Driven by Gaussian White Noise

Covariance control methods have been applied to linearstochastic multivariable control systems to ensure good behavior of eachstate variable separately. Recent attempts to extend these ideas tononlinear systems have been reported, including an example of a systemexhibiting hysteresis nonlinearity which employed describing functions.As nonlinearities, including hysteresis, occur frequently in structuralsystems, the development of effective control algorithms to accommodatethem is desirable. Recently, the authors designed covariance controllersfor several hysteretic systems using the method of stochastic equivalentlinearization. Performance of the closed loop system employing thecovariance control was verified through simulation. In the present work,a new control design method is adopted that uses the principle ofmaximum entropy, which has been used as an alternative procedure forclosure of moment equations arising in stochastic dynamical systems. Themaximum entropy-based method leads to a result equivalent to that ofstochastic linearization when covariances alone are specified; however,the method readily accommodates the specification of higher orderresponse moments.