一类离散切换系统的渐近稳定性

利用多Lyapunov函数, 研究了一类由m个离散子系统构成的切换系统的渐近稳定性, 给出了该系统全局渐近稳定的两个充分条件. 仿真结果表明文中的结论是有效的.     

Markov切换系统的随机稳定性分析

根据混合系统离散状态的动态行为和Markov链的状态也是离散的特点，提出了一类离散状态的动态行为是Markov链的混合系统。与传统的混合系统相比，这类系统能够刻画出混合系统离散动态行为的随机性，可以用来描述系统受到外界环境因素制约和内部突发事件等随机因素影响而发生变化的动态行为。根据动态系统的稳定性定义以及随机过程理论，给出了Markov线性切换系统的随机稳定性定义，并且分析了Markov线性切换系统的随机稳定性问题，给出了判定随机稳定性的充分必要条件。     

离散时滞切换系统的无记忆状态反馈镇定

针对一类子系统为离散时滞系统的切换系统，研究了稳定性与无记忆状态反馈镇定问题．采用多李雅普诺夫函数法，首先以线性矩阵不等式形式给出了在任意切换信号作用下离散时滞切换系统渐进稳定的一个充分性条件；然后给出了系统无记忆状态反馈镇定的控制器设计方案，并将结果推广到不确定离散时滞切换系统；最后用仿真算例验证了所提出设计方案的可行性。     

离散时滞切换系统稳定性分析

对于一类子系统为离散时滞系统的切换系统,研究渐近稳定性条件和切换信号的选取方法．根据李亚普诺夫稳定性理论，推出以线性矩阵不等式表示的在任意切换信号作用下系统渐近稳定的两个充分性条件，在此基础上进一步给出了系统渐近稳定的凸组合条件和切换信号的选取方法．仿真实例验证了所设计的切换方案的有效性．     

一类离散切换模糊系统的稳定性

针对离散模糊系统,提出一类离散切换模糊系统的稳定性问题.使用切换技术及单Lyapunov函数、多Lyapunov函数方法构造出连续状态反馈控制器,使得相应的闭环系统渐近稳定,同时设计可以实现系统全局渐近稳定的切换律.模型中的每个切换系统的子系统是离散模糊系统,取常用的平行分布补偿PDC控制器,主要条件以凸组合和矩阵不等式的形式给出,具有较强的可解性.计算机仿真结果表明设计方法的可行性与有效性.     

一类离散线性切换系统的最优控制

研究了一类离散线性切换系统在切换时间、切换次数固定的情况下的二次最优控制问题.利用离散动态规划的方法,将多级决策过程分解成一系列易于求解的单级决策过程,求出最优控制序列和最优切换序列,并给出算法.最后通过一个数值例子来说明所提出的方法的有效性.     

一类离散切换时滞非线性系统的H∞控制

研究一类基于神经网络的离散切换时滞非线性系统的稳定性和H∞控制问题。利用线性矩阵不等式方法得到了该类系统稳定性条件。在此基础上,通过引入一些变量讨论了该类系统的反馈控制器设计问题。以线性矩阵不等式的形式提出了该类系统反馈控制器的设计方法,并利用Matlab中的LMI工具箱直接求解。最后给出数值例子说明方法有效性。     

带有时滞摄动的线性切换系统的稳定性

研究一类带有时滞摄动的线性切换系统的稳定性，分别利用单李亚普诺夫函数方法和多李亚普诺夫函数方法给出了使切换系统渐近稳定的条件和切换律的设计方法。仿真结果验证了所提出设计方法的有效性。     

一类不确定离散切换模糊时滞系统的鲁棒非脆弱控制

针对一类不确定离散切换模糊时滞系统,研究了在控制器增益存在摄动情况下的稳定性问题.利用切换技术和多Lyapunov函数方法,并以矩阵不等式形式给出了非脆弱状态反馈控制器存在的充分条件和切换律设计.最后通过数值仿真算例验证了设计方法的有效性和可行性.     

基于切换次序参数化的时滞切换正系统最优控制

考虑时滞线性自治切换正系统,将切换次序参数化作为系统的离散输入,通过系统的等价转换,分析时滞线性自治切换正系统的最优控制问题.利用极小值原理,给出满足性能指标的最优切换次序条件,分析时滞项对性能指标和切换时刻的影响,最后给出数值例子验证结论的有效性.     

Multisensor switching control strategy with fault tolerance guarantees

In this paper we propose a novel fault tolerant multisensor switching strategy for feedback control. Each sensor of the proposed multisensor scheme has an associated state estimator which, together with a state feedback gain, is able to individually stabilise the closed-loop system. At each instant of time, the switching strategy selects the sensor-estimator pair that provides the best closed-loop performance, as measured by a control-performance criterion. We establish closed-loop stability of the resulting switching scheme under normal (fault-free) operating conditions. More importantly, we show that closed-loop stability is preserved in the presence of faulty sensors if a set of conditions on the system parameters (such as bounds on the sensor noises, maximum and minimum values of the reference signal, etc.) is satisfied. This result enhances and broadens the applicability of the proposed multisensor scheme since it provides guaranteed properties such as fault tolerance and robust closed-loop stability under sensor fault. The results are applied to the problem of automotive longitudinal control.     

Relaxed Stability Conditions for Switched Systems with Dwell Time

The paper presents asymptotic, and input‐to‐state stability results, for switched systems with dwell time in which the switching signal is not arbitrary, but is rather chosen as part of the control design strategy. Then, appropriate switching policies allow the use of functions without sign‐definite time derivatives in lieu of a common Lyapunov‐like function.     

Robust control for a class of uncertain switched fuzzy systems

A model of uncertain switched fuzzy systems whose subsystems are uncertain fuzzy systems is presented. Robust controllers for a class of switched fuzzy systems are designed by using the Lyapunov function method. Stability conditions for global asymptotic stability are developed and a switching strategy is proposed. An example shows the effectiveness of the method.     

Switching control approach for stable navigation of mobile robots in unknown environments

This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacle-avoider controller is analyzed showing stability under reasonable conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.     

Stabilization of continuous-time switched nonlinear systems

The paper considers three problems for continuous-time nonlinear switched systems. The first result of this paper is a open-loop stabilization strategy based on dwell time computation. The second considers a state switching strategy for global stabilization. The strategy is of closed loop nature (trajectory dependent) and is designed from the solution of what we call nonlinear Lyapunov–Metzler inequalities from which the stability condition is expressed. Finally, results on the stabilization of nonlinear time varying polytopic systems are provided.     

Robust hybrid control incorporating over-saturation

A switching controller aimed at dealing with a class of uncertain systems subject to input saturation is presented. The switching strategy is such that a pre-specified level of over-saturation is allowed, forcing the input deliberately into saturation. The goal of this method is to use the full authority of the available control. The proposed scheme allows for, up to, 100% over-saturation. Under these conditions, robust stability of the hybrid scheme is established.     

离散变结构控制系统的比例—等速—变速控制

提出离散变结构控制系统的变速趋近律和比例一等速－变带控制策略,以变速趋近律为到达条件,可产生扇形切换区,并可期待原点的稳定性。将变速趋近律和指数趋近组合使用,可形成一种新的控制策略,它克服了两种趋近律的缺点,保留了其优点,使系统性能得以改善。     

DC-DC变换器分段线性系统的最小投影法切换律

采用分段线性系统分析方法, DC-DC变换器的稳定性研究和控制器设计变得十分简单和有效. 本文首先基于分段线性系统的稳定性原理, 建立实现系统全局稳定的最小投影法切换律. 其次提出基于最小投影法的收敛率分析方法, 揭示了分段线性系统在整个状态邻域收敛率快慢的本质, 为改善最小投影法切换律的收敛率提供理论依据. 最后以Boost DC-DC变换器为例说明以上理论研究的正确性, 并以实验验证最小投影法切换律在DC-DC变换器实际应用中的可行性.     

区间切换系统的状态观测器设计

讨论一类区间切换系统状态观测器的设计问题。采用共同Lyapunov函数方法、多Lyapunov函数方法,设计出状态观测器和相应的切换策略,以线性矩阵不等式的形式给出保证误差系统渐近稳定的充分条件。仿真算例验证状态观测器的有效性。     

Command governor for constrained switched systems with scheduled model transition dwell times

In this paper, a switched control architecture for constrained control systems is presented. The strategy is based on command governor ideas that are here specialized to ‘optimally’ schedule switching events on the plant dynamics for improving control performance at the expense of low computational burdens. The significance of the method mainly lies in its capability to avoid constraints violation and loss of stability regardless of any configuration change occurrence in the plant/constraint structure. To this end, the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfilment. Simulation results on a simple linear system and on a Cessna 182 aircraft model show the effectiveness of the proposed strategy. Copyright © 2017 John Wiley & Sons, Ltd.