基于动态调整的多目标粒子群优化算法

为了改善多目标粒子群优化算法生成的最终Pareto前端的多样性和收敛性,提出了一种针对多目标粒子群算法进化状态的检测机制.通过对外部Pareto解集的更新情况进行检测,进而评估算法的进化状态,获取反馈信息来动态调整进化策略,使得算法在进化过程中兼顾近似Pareto前端的多样性和收敛性.最后,在ZDT系列测试函数中,将本文算法与其他4种对等算法比较,证明了本文算法生成的最终Pareto前端在多样性和收敛性上均有显著的优势.     

不确定非线性时滞切换广义系统的鲁棒无源控制

将无源的概念从广义系统扩散到切换广义系统之中,进而研究了一类带有非线性扰动项和时滞不确定项的切换广义系统的无源控制问题。并且系统中的不确定性要满足有界条件。首先,基于一类广义Lyapunov函数结合线性矩阵不等式,获得了使非线性切换广义系统能够渐近稳定且严格无源的充分条件。然后,根据已给的条件设计出鲁棒无源控制器,使得闭环广义切换系统对于所有容许的不确定性是严格无源的。最后运用Matlab中的LMI工具箱具体给出实例,证明其可行性。     

非平稳信号度量方法综述

非平稳性度量是非平稳信号处理中的重要课题。尽管已有的度量方法在原理上有较大差异,缺少统一的理论框架和度量标准,但这些非平稳信号度量方法都在其相应领域发挥了重要作用。本文对随机信号非平稳度量方法进行了综述,系统地总结、归纳了不同领域现有的随机信号非平稳性度量方法,包括基于统计量和动力学参数的时域方法、时频域参数方法、信号建模参数方法以及特定类别信号的非平稳性度量方法,给出了各种度量方法的应用,并展望了非平稳性度量的未来发展方向。     

Adaptive dynamic surface control for uncertain nonaffine nonlinear systems

This paper focuses on the problem of adaptive control for uncertain nonaffine nonlinear systems. The original nonaffine systems are transformed into the augmented affine systems via adding an auxiliary integrator, which makes the explicit control design possible. By introducing a modified sliding mode filter in each step, a novel adaptive dynamic surface controller is proposed, where the ‘explosion of complexity’ problem inherent in the backstepping design is avoided. It is proven rigorously that for any initial control condition, the proposed adaptive scheme is able to ensure the semiglobal uniformly ultimately boundedness of all signals in the closed loop. An illustrative example is carried out to verify the effectiveness of the proposed approach. Copyright © 2016 John Wiley & Sons, Ltd.     

Event‐triggered optimal tracking control of nonlinear systems

We propose a novel event‐triggered optimal tracking control algorithm for nonlinear systems with an infinite horizon discounted cost. The problem is formulated by appropriately augmenting the system and the reference dynamics and then using ideas from reinforcement learning to provide a solution. Namely, a critic network is used to estimate the optimal cost while an actor network is used to approximate the optimal event‐triggered controller. Because the actor network updates only when an event occurs, we shall use a zero‐order hold along with appropriate tuning laws to encounter for this behavior. Because we have dynamics that evolve in continuous and discrete time, we write the closed‐loop system as an impulsive model and prove asymptotic stability of the equilibrium point and Zeno behavior exclusion. Simulation results of a helicopter, a one‐link rigid robot under gravitation field, and a controlled Van‐der‐Pol oscillator are presented to show the efficacy of the proposed approach. Copyright © 2016 John Wiley & Sons, Ltd.     

Global output‐feedback stabilization for high‐order nonlinear systems with unknown growth rate

This paper considers the global stabilization via time‐varying output‐feedback for a class of high‐order uncertain nonlinear systems with rather weak assumptions. Essentially different from the existing literature, the systems under investigation simultaneously have more serious nonlinearities, unknowns, immeasurableness, and time‐variations, which are indicated from the unknown time‐varying control coefficients and the higher‐order and lower‐order unmeasured states dependent growth with the rate of unknown function of time and output. Recognizing that adaptive technique is quite hard to apply, a time‐varying design scheme is proposed by combining time‐varying approach, certainty equivalence principle and homogeneous domination approach. One key point in the design scheme is the selection of the design functions of time, in order to compensate/capture the serious unknowns and serious time‐variations, and another one is the design of a time‐varying observer to rebuild the unmeasured system states. With the appropriate choice of the involved design functions, the designed controller makes all the signals of the closed‐loop system globally bounded and ultimately converge to zero. Copyright © 2016 John Wiley & Sons, Ltd.     

Consensus and disturbance attenuation in multi‐agent chains with nonlinear control and time delays

In this paper, we investigate consensus and disturbance attenuation in a chain of mobile agents, which include non‐autonomous agents, semi‐autonomous agents and autonomous agents. In particular, the nonlinear dynamics of non‐autonomous agents is given and cannot be designed, while the dynamics of semi‐autonomous and autonomous agents can be partially and fully designed, respectively. To improve the robustness of multi‐agent chains against disturbances, we propose a nonlinear control framework for semi‐autonomous and autonomous agents such that they mimic the behavior of non‐autonomous agents for compatibility while also exploiting long‐range connections with distant agents. This framework ensures the existence of a unique consensus equilibrium, which is independent of the network size, connectivity topologies, control gains and information delays. Robustness of multi‐agent chains against disturbances is investigated by evaluating the frequency response at the nonlinear level. For infinitely long multi‐agent chains with recurrent patterns, we also derive a condition that ensures the disturbance attenuation but only requires the analysis of the linearized model. A case study is conducted for a connected vehicle system where numerical simulations are used to validate the analytical results. Copyright © 2016 John Wiley & Sons, Ltd.     

On a new adaptive sliding mode control for MIMO nonlinear systems with uncertainties of unknown bounds

This paper proposes a new approach of adaptive sliding mode controller designs for multiple‐input multiple‐output nonlinear systems with uncertainties of unknown bounds and limited available inputs. The goal is to obtain robust, smooth, and fast transient performance for real sliding mode control so that the phenomena of the slow response and the gain overestimation in most adaptive sliding mode controller designs can be greatly improved. We introduce an Integral/Exponential adaptation law with boundary‐layer targeting the reduction of the chatter levels of the sliding mode by significantly reducing the gain overestimation while simultaneously speeding up the system response to the uncertainties. The gain is further reduced when the system state is in the boundary layer. The simulation and experimental results demonstrate the proposed design. Copyright © 2016 John Wiley & Sons, Ltd.     

Synchronization of stochastic complex dynamical networks under self‐triggered control

In this paper, we investigate the mean square exponential synchronization of stochastic nonlinear complex dynamical networks with or without communication delays. A new self‐triggered mechanism is proposed to reduce the amount of communication while preserving the desired system's performance. Under this mechanism, the next sampling instant is dynamically determined by the latest transmitted state rather than the online detection of the event‐triggered condition. Meanwhile, we show that the inter‐execution time of self‐triggered mechanism is bounded by a strictly positive constant, and the maximal allowable delay of the underlying system is given. A simulation is provided to illustrate the effectiveness of the proposed self‐triggered scenario. Copyright © 2016 John Wiley & Sons, Ltd.     

A low‐complexity design for distributed containment control of networked pure‐feedback systems and its application to fault‐tolerant control

This paper addresses a low‐complexity distributed containment control problem and its extension to fault‐tolerant control for networked nonlinear pure‐feedback systems under a directed graph. The multiple dynamic leaders are neighbors of only a subset of the followers described by completely non‐affine multi‐input multi‐output pure‐feedback dynamics. It is assumed that all followers' nonlinearities are heterogeneous and unknown. The proposed containment controller is implemented by using only error surfaces integrated by performance bounding functions and does not require any differential equations for compensating uncertainties and faults. Thus, compared with the previous containment control approaches for multi‐agent systems with unknown non‐affine nonlinearities, the distributed containment control structure is simplified. In addition, it is shown that the proposed control scheme can be applied to the fault‐tolerant containment control problem in the presence of unexpected system and actuator faults, without reconstructing any control structure. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds. Copyright © 2016 John Wiley & Sons, Ltd.