Andrzej Bartoszewicz  Paweł Latosiński 《国际强度与非线性控制杂志
》2016,26(1):47-68

In this paper, a novel reaching law for discrete‐time variable structure systems is proposed. It ensures that the representative point (state) of the controlled plant approaches the switching plane in finite time and then crosses it in every subsequent step. Moreover, the proposed reaching law ensures that for the nominal plant the absolute value of the sliding variable asymptotically decreases to zero, and for the perturbed plant, it converges to a smaller interval around zero than with the application of previously proposed reaching laws. The control method proposed in this paper guarantees asymptotic stability of the nominal system and uniform ultimate boundedness of the perturbed one. Furthermore, the method ensures that the sliding variable rate of change (i.e. the difference between its values at any two subsequent sampling instants) is bounded by design parameters, which do not depend on the system initial conditions. This is a highly desirable property, as it results in a priori specified, ‘almost’ constant convergence rate of the sliding variable when the system state is far off the switching plane and helps enforce state constraints in the system. Copyright © 2014 John Wiley & Sons, Ltd.  相似文献   

    

Mohamed Bolajraf  Mustapha Ait Rami 《国际强度与非线性控制杂志
》2016,26(4):834-852

This paper deals with state estimation problem for uncertain continuous‐time systems. A numerical treatment is proposed for designing interval observers that ensures guaranteed upper and lower bounds on the estimated states. In order to take into account possible perturbations on the system and its outputs, a new type of interval observers is introduced. Such interval observers consist of two coupled general Luenberger‐type observers that involve dilatation functions. In addition, we provide an optimality criterion in order to find optimal interval observers that lead to tight interval error estimation. The proposed existence and optimality conditions are expressed in terms of linear programming. Also, some illustrative examples are given. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

    

Xiao‐Jian Li  Guang‐Hong Yang 《国际强度与非线性控制杂志
》2016,26(13):2916-2937

This paper deals with the fault detection and isolation (FDI) problem for uncertain closed‐loop systems with external disturbances and nonlinear perturbations. To address the system uncertainties and the nonlinear perturbations in different faulty models, adaptive and switching techniques are introduced to construct a bank of FDI observers, such that one of them can match the current system, and the corresponding observer estimate errors can converge asymptotically to zero. An effective FDI scheme is then presented by introducing some model‐matching indexes. Moreover, the introduced switching laws liberate the equality constraints often used in the existing FDI approaches, which are hard to satisfy if the system matrices include uncertainties. Finally, a simulation example of F/A‐18A automatic carrier landing system is used to illustrate the effectiveness of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

    

Ari Berger  Per‐Olof Gutman 《国际强度与非线性控制杂志
》2016,26(10):2116-2135

This paper presents a new perspective on the stability problem for uncertain LTI feedback systems with actuator input amplitude saturation. The solution is obtained using the quantitative feedback theory and a 3 DoF non‐interfering control structure. Describing function (DF) analysis is used as a criterion for closed loop stability and limit cycle avoidance, but the circle or Popov criteria could also be employed. The novelty is the combination of a controller parameterization from the literature and describing function‐based limit cycle avoidance with margins for uncertain plants. Two examples are given. The first is a benchmark problem and a comparison is made with other proposed solutions. The second is an example that was implemented and tested on an X‐Y linear stage used for nano‐positioning applications. Design and implementation considerations are given. An example is given on how the method can be extended to amplitude and rate saturation with the help of the generalized describing function, and a novel anti‐windup compensation structure inspired by previous contributions. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

    

Zheng Chen  Ya‐Jun Pan  Jason Gu 《国际强度与非线性控制杂志
》2016,26(12):2708-2728

With the increasing industrial requirements such as bigger size object, stable operation, and complex task, multilateral teleoperation systems extended from traditional bilateral teleoperation are widely developed. In this paper, the integrated control design is developed for multilateral teleoperation systems, where n master manipulators are operated by human to remotely control n slave manipulators cooperatively handling a target object. For the first time, the control objectives of multilateral teleoperation including stability, synchronization, transparency, and internal force distribution are clarified systematically. A novel communication architecture is proposed to cope with communication delays, where the estimated environmental parameters are transmitted from the slave side to the master, to replace the traditional environmental force measurement in the communication channel. A kind of nonlinear adaptive robust control technique is used to deal with nonlinearities, unknown parameters, and modeling uncertainties existing in the master, slave, and environmental dynamics, so that the excellent tracking performance is achieved in both master and slave sides. The coordinated motion/force control is designed in the slave side by the optimal internal force distribution among n slave manipulators, and the impedance control is designed in the master side to realize the target transparency behavior. In summary, the proposed control algorithm can achieve the guaranteed robust stability, the excellent synchronization and transparency performance, and the optimal internal force distribution simultaneously for multilateral teleoperation systems under arbitrary time delays and various modeling uncertainties. The simulation is carried out on a 2‐master/2‐slave teleoperation system, and the results show the effectiveness of the proposed control design. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献   

    

Xavier Vanhoye  Alexandre Janin  Amandine Caillaud  Antoine Rimbert  Fabienne Venet  Morgane Gossez  Wieneke Dijk  Oriane Marmontel  Sverine Nony  Charlotte Chatelain  Christine Durand  Pierre Lindenbaum  Jennifer Rieusset  Bertrand Cariou  Philippe Moulin  Mathilde Di Filippo 《International journal of molecular sciences》2022,23(8)

Hypobetalipoproteinemia is characterized by LDL-cholesterol and apolipoprotein B (apoB) plasma levels below the fifth percentile for age and sex. Familial hypobetalipoproteinemia (FHBL) is mostly caused by premature termination codons in the APOB gene, a condition associated with fatty liver and steatohepatitis. Nevertheless, many families with a FHBL phenotype carry APOB missense variants of uncertain significance (VUS). We here aimed to develop a proof-of-principle experiment to assess the pathogenicity of VUS using the genome editing of human liver cells. We identified a novel heterozygous APOB-VUS (p.Leu351Arg), in a FHBL family. We generated APOB knock-out (KO) and APOB-p.Leu351Arg knock-in Huh7 cells using CRISPR-Cas9 technology and studied the APOB expression, synthesis and secretion by digital droplet PCR and ELISA quantification. The APOB expression was decreased by 70% in the heterozygous APOB-KO cells and almost abolished in the homozygous-KO cells, with a consistent decrease in apoB production and secretion. The APOB-p.Leu351Arg homozygous cells presented with a 40% decreased APOB expression and undetectable apoB levels in cellular extracts and supernatant. Thus, the p.Leu351Arg affected the apoB secretion, which led us to classify this new variant as likely pathogenic and to set up a hepatic follow-up in this family. Therefore, the functional assessment of APOB-missense variants, using gene-editing technologies, will lead to improvements in the molecular diagnosis of FHBL and the personalized follow-up of these patients.  相似文献   

    

Sudeep Sharma  Prabin K. Padhy 《International Journal of Numerical Modelling》2022,35(1):e2947

This article proposed an online identification technique, also known as a real-time recursive identification technique for continuous time-delay systems. The proposed approach is based on online output-error modeling of unknown continuous time-delay models, indirectly from discrete time-delay models. The developed indirect formulation is employed to propose three online identification algorithms using least square, instrument variable, and prediction error minimization techniques. The proposed algorithms utilize auxiliary models and fixed or optimal filtering of input/output data samples to obtain unbiased fixed as well as time-varying parameter estimates. An estimated error variance-based stochastic approach is also incorporated to improve the parameter estimates. Extensive simulation experiments are conducted to validate the proposed algorithms' performance. Some useful guidelines are suggested to achieve improved identification accuracy, convergence consistency, and robustness in the presence of the measurement noise and modeling uncertainties. A real practical application for online identification of a heating system is also demonstrated.  相似文献   

    

Jinquan Xu  Hao Fang  Ye‐Hwa Chen  Hong Guo  Xiaofeng Ding 《Asian journal of control》2021,23(1):548-560

The control design problem for the uncertain nonlinear system with bounded state constraint and mismatching condition is considered in this paper. The uncertainty in the system, which may be due to unknown system parameters and external disturbance, is nonlinear and time‐varying. The state of the system is constrained to be bounded. The system does not satisfy the (global) matching condition. A creative one‐to‐one state transformation is proposed by converting the bounded states into the unbounded ones. A step‐by‐step state transformation is proposed to convert the mismatched system into a matched system. The robust control is then proposed based on the transformed system. The control is demonstrated to be able to guarantee the uniform boundedness and uniform ultimate boundedness of the system in the presence of uncertainty, while the state constraint can be always guaranteed.  相似文献   

    

《Information Fusion》2021

Uncertainty theory adopts the belief degree and uncertainty distribution to ensure good alignment with a decision-maker’s uncertain preferences, making the final decisions obtained from the consensus-reaching process closer to the actual decision-making scenarios. Under the constraints of the uncertain distance measure and consensus utility, this article explores the minimum-cost consensus model under various linear uncertainty distribution-based preferences. First, the uncertain distance is used to measure the deviation between individual opinions and the consensus through uncertainty distributions. A nonlinear analytical formula is derived to avoid the computational complexity of integral and piecewise function operations, thus reducing the calculation cost of the uncertain distance measure. The consensus utility function defined in this article characterizes the adjustment value and degree of aggregation of individual opinions. Three new consensus models are constructed based on the consensus utility and linear uncertainty distribution. The results show that, in complex group decision-making contexts, the uncertain consensus models are more flexible than traditional minimum-cost consensus models: compared with the high volatility of the adjusted opinions in traditional deterministic consensus models with crisp number-based preferences, the variation trends of both individual adjusted opinions and the collective opinion with a linear uncertainty distribution are much smoother and the fitting range is closer to reality. The introduction of the consensus utility not only reflects the relative changes of individual opinions, but also accounts for individual psychological changes during the opinion-adjustment process. Most importantly, it reduces the cost per unit of consensus utility, facilitates the determination of the optimal threshold for the consensus utility, and improves the efficiency of resource allocation.  相似文献   

    

Manar Aoun  Ilaria Passerini  Pietro Chiurazzi  Marianthi Karali  Irene De Rienzo  Giovanna Sartor  Vittoria Murro  Natalia Filimonova  Marco Seri  Sandro Banfi 《International journal of molecular sciences》2021,22(13)

Inherited retinal diseases (IRDs) are a heterogeneous group of conditions that include retinitis pigmentosa (RP) and Leber congenital amaurosis (LCA) and early-onset severe retinal dystrophy (EO[S]RD), which differ in severity and age of onset. IRDs are caused by mutations in >250 genes. Variants in the RPE65 gene account for 0.6–6% of RP and 3–16% of LCA/EORD cases. Voretigene neparvovec is a gene therapy approved for the treatment of patients with an autosomal recessive retinal dystrophy due to confirmed biallelic RPE65 variants (RPE65-IRDs). Therefore, the accurate molecular diagnosis of RPE65-IRDs is crucial to identify ‘actionable’ genotypes—i.e., genotypes that may benefit from the treatment—and is an integral part of patient management. To date, hundreds of RPE65 variants have been identified, some of which are classified as pathogenic or likely pathogenic, while the significance of others is yet to be established. In this review, we provide an overview of the genetic diagnostic workup needed to select patients that could be eligible for voretigene neparvovec treatment. Careful clinical characterization of patients by multidisciplinary teams of experts, combined with the availability of next-generation sequencing approaches, can accelerate patients’ access to available therapeutic options.  相似文献