基于事件触发的广义网络控制稳定性分析

本文以广义系统为被控对象,对一类广义网络控制系统进行等价受限变换,通过建立慢子系统的状态反馈控制使系统达到渐进稳定。进一步给出了在事件触发机制下的系统稳定性条件。基于该稳定性判据,得到了输出反馈控制器的设计方法,数值仿真结果表明了该方法的有效性。     

定常2-D系统控制能量受限下的完全能控性

本文研究了定常2-D系统Roesser模型在控制能量受限下的完全能控性,得到了一个充分必要条件,并对一种特殊的2-D可分离分母系统给出了控制能量受限下完全能控的一种非常简洁的代数条件。     

定常2-D系统控制能量受限下的完全能控性

本文研究了定常2-D系统Roesser模型在控制能量受限下的完全能控性,得到了一个 充分必要条件,并对一种特殊的2-D可分离分母系统给出了控制能量受限下完全能控的一种 非常简洁的代数条件.     

广义分散控制系统的DR-能控性

本文研究广义分散控制系统的ＤＲ－能控性问题，给出了一般情况下的广义分散控制系统ＤＲ－能控的充要条件。     

广义分散控制系统的DR－能控性

本文研究广义分散控制系统的ＤＲ－能控性问题，给出了一般情况下的广义分散控制系统ＤＲ－能控的充要条件     

广义对称组合系统的结构分析

研究了由若干个相同的广义线性子系统以对称的内联方式构成的广义对称组合大系统的性质.首先,通过系统变换,将原广义对称组合大系统转换为两个低阶的修正子系统,然后通过分析得到广义对称组合大系统的稳定性、能控性、能观性、固定模的存在性、分散正常化、Lyapunov方程和Riccati方程的解等性质,均可由这两个低阶的修正子系统的相应性质来描述.     

柔性连杆机器人的多速率神经网络混合控制器设计

提出了一种用于动力学部分已知柔性连杆机器人的多速率神经网络自适应混合控制器，基于奇异摄动方法和两时标分解，柔性连杆机器人的模型分解成两个子系统；慢子系统和快子系统。这样可以根据每个分立的子系统设计系统的慢和快控规律，然后组合成一个混合控制。系统的慢控制由基于神经网络的自适应控制器实现，用于控制等效的刚性连杆机器人，而快控制用于在慢子系统建立的平衡轨迹附近稳定快子系统。     

一般广义时变系统的容许性和二次容许性

针对一般广义时变系统, 采用广义Lyapunov 不等式和受限等价变换的分析方法, 提出了一般广义时变系统容许性和二次容许性的概念, 建立了一般广义时变系统的Lyapunov 不等式. 将一般广义时变系统容许性问题转化为求解Lyapunov 不等式问题, 获得了该类系统容许和二次容许的充要条件, 所得结论是广义系统容许性研究成果向一般广义时变系统的自然推广. 最后, 通过数值算例验证了所得结论的有效性.     

人口系统能控性的探讨

本文就控制具有下确界约束的人口发展过程能控性进行了探讨。定义了相应的人口状态空间,提出并证明了人口控制系统在人口状态空间中能控性的充要条件。     

仿射非线性系统的能控性

研究仿射非线性系统的能控性问题.利用向量场族对应的积分曲线定义系统的能控性,建立一个新的基于漂移向量场弱泊松稳定的能控性判据,并给出了完整的证明.利用该结论对定义在紧致黎曼流形上的解析系统,给出了漂移向量场为保守场条件下的能控性的充要条件,并用状态流形的紧致性证明了弱泊松稳定性的几个等价条件.进一步利用保守系统的判据给出了一般仿射非线性系统能控的充分条件,井应用所得结论分析了欠驱动航天器姿态系统的能控性.     

Controllability for a Class of Parallelly Connected Polynomial Systems

Null controllability for a class of parallelly connected discrete-time polynomial systems is considered. We prove for this class of systems that a necessary and sufficient condition for null controllability of the parallel connection is that all its subsystems are null controllable. Consequently, the controllability test splits into a number of easy-to-check tests for the subsystems. The test for complete controllability is also presented and it is subtly different from the null controllability test. A similar statement is then given for complete controllability of a class of parallelly connected continuous-time polynomial systems. The result is somewhat unexpected when compared with the classical linear systems result. We identify the phenomenon which shows the difference between the linear and nonlinear cases. Date received: January 22, 1997. Date revised: January 14, 1998.     

Constrained exact controllability of semilinear systems

In the paper infinite-dimensional dynamical control systems described by semilinear abstract differential equations are considered. Using a generalized open-mapping theorem, sufficient conditions for constrained exact local controllability are formulated and proved. It is generally assumed, that the values of admissible controls are in a convex and closed cone with vertex at zero. Constrained exact local controllability of semilinear abstract second-order dynamical systems are also formulated and proved. As an illustrative example, constrained exact local controllability problem for semilinear hyperbolic type distributed parameters dynamical system is solved in details. Some remarks and comments on the existing results for controllability of nonlinear dynamical systems are also presented.     

Feedback control of two-time-scale block implemented discrete-time systems

The block processing technique is applied to a class of two-time-scale linear discrete-time systems. Block state-space structures for slow and fast subsystems have been obtained. Based upon these models, blocked slow and fast controls are designed. In addition, an extra control is designed to exactly compensate for the effects of the parasitics.     

Dynamics of strongly coupled symmetric composite systems†

Dynamical systems composed of symmetrically interconnected identical subsystems are modelled and analysed. It is shown that the performance of the subsystems operating within the whole system can be exactly described by a state-space model of order twice the order of the isolated subsystem. Because of the conformity of the subsystem performance this is true even for strong interactions. The controllability, observability and existence of decentralized fixed modes can be tested by means of low-order models. Considering systems with an asymptotically infinite number of subsystems, necessary and sufficient conditions are derived on the subsystem dynamics and the interconnections for being cooperative. The results are utilized to study the performance of symmetric power systems.     

大系统的BIBO稳定性

本文首先给出了一类大系统有界输入有界输出（ＢＩＢＯ）稳定化的一种分散控制方案。其可稳定化的条件仅仅是其子系统一致完全可控。然后考虑了每个子系统含有非线性摄动的大系统鲁棒稳定化问题，其摄动的允许界通过局部状态反馈获得，最后应用获得的结果到线性单系统，改进了Ｗｕ等人的一些近期结果。     

On the controllability of switching linear systems

This note presents a necessary and sufficient condition for small time controllability of a linear switching system (that is, a collection of linear time-invariant control systems, where a trajectory is any concatenation of trajectories of the individual systems). This result extends the controllability condition recently obtained for unconstrained linear switching systems to the case of control which is constrained in a cone.     

高阶系统方法—Ⅱ.能控性与全驱性

本文首先简述了基于状态空间模型的一阶动态系统的能控性进展, 指出了一阶系统方法中卡尔曼能控性体系的一些问题.然后证明了线性定常系统能控的充要条件是它能化成一个高阶全驱系统, 同时还在一定程度上将这一结果推广到非线性系统的情形.基于这一发现, 本文定义了一般动态系统的完全能控性, 明确其意义在于存在控制律使得闭环系统为一线性定常的高阶系统, 并且可以任意配置闭环特征多项式的系数矩阵, 同时还指出其多方面相关结论.     

The structure of nonlinear control systems possessing symmetries

A concept of symmetry is defined for general nonlinear control systems. It is shown, under various technical conditions, that nonlinear control systems with symmetries admit local and/or global decompositions in terms of lower dimensional subsystems and feedback loops. The structure of the individual subsystems is dependent on the structure of the symmetry group; for example, if the symmetry group is Abelian, one of the subsystems is a quadrature. An additional feature of the decomposition is that the state-space dimensions of the subsystems sum to the state-space dimension of the original system.     

切换系统输出反馈镇定的特征结构配置方法

考虑由单输入--单输出线性子系统构成的切换系统, 通过解析方法设计输出反馈控制, 使闭环子系统具有公共二次Lyapunov函数. 基于可解Lie代数条件及广义Sylvester方程的通解, 利用特征结构配置方法建立了反馈控制的存在性准则, 并由此给出了控制器的设计形式. 仿真算例实现了设计过程并验证了方法的有效性.     

On controllability of discrete-time bilinear systems by near-controllability

In this paper, controllability of discrete-time bilinear systems is studied. By applying a recent result on near-controllability, a new sufficient condition for controllability of the systems is presented, where controllability is proved by approximation with near-controllability. The new condition is algebraically verifiable and is hence easy to apply compared with a classical result on controllability of discrete-time bilinear systems, which can be effective even when the classical result does not work. Furthermore, the control inputs to achieve the transition of the systems between any given pair of states are approximately computable according to near-controllability. Therefore, near-controllability can be used to not only better characterize the system properties, but also prove controllability with computable control inputs. The new condition is then generalized to derive similar results on controllability and near-controllability of the systems. Finally, examples are given to illustrate the results of this paper.