Global finite-time adaptive control for uncalibrated robot manipulator based on visual servoing

The paper addresses the finite-time convergence problem of a uncalibrated camera-robot system with uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FTS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FTS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model. The finite-time stability analysis is discussed in accordance with homogeneous theory and Lyapunov function formalism. The control method we proposed extends the asymptotic stability results of visual servoing control to a finite-time stability. Simulation has been conducted to demonstrate the performance of the trajectory tracking errors convergence under control of the proposed method.     

New stability and stabilization conditions for nonlinear systems with time-varying delay based on delay-partitioning approach

This paper focuses on stability analysis and stabilization of nonlinear systems with interval time-varying delay, modeled by Takagi-Sugeno (T-S) fuzzy approach. To achieve more relaxation in the feasibility region, delay-partitioning approach is used for all integral terms in the Lyapunov-Krasovskii functional (LKF). A fuzzy Lyapunov function is proposed instead of non-integral term in LKF, and moreover, some slack matrices variables are offered to enlarge the design space. By doing this, new delay-dependent stability criteria are obtained. During the derivation of stability conditions, Jensen’s integral inequality is applied to deal with integral terms. Furthermore, in this paper the problem of controller design via the parallel distributed compensation (PDC) scheme is studied. Stability and stabilization conditions with less conservative are achieved in terms of linear matrix inequality (LMI). Finally, two numerical examples are presented to show the effectiveness of the proposed results.     

Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.     

Synchronisation of a class of networked passive systems with switching topology

This article considers the output synchronisation of a class of networked agents. Each agent is a passive system. Local information, used by each agent to adjust its movement, forms a network with switching adjacent topology. First, we consider the asymptotic stability of switched non-linear time-varying systems with delayed measurement feedback by using multiple Lyapunov function. A Barbalat-like lemma is obtained. Then the result is applied to the output synchronisation of a class of networked passive systems with switching topology. A verifiable sufficient condition is presented.     

Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints

A new fuzzy adaptive control method is proposed for a class of strict feedback nonlinear systems with immeasurable states and full constraints. The fuzzy logic system is used to design the approximator, which deals with uncertain and continuous functions in the process of backstepping design. The use of an integral barrier Lyapunov function not only ensures that all states are within the bounds of the constraint, but also mixes the states and errors to directly constrain the state, reducing the conservativeness of the constraint satisfaction condition. Considering that the states in most nonlinear systems are immeasurable, a fuzzy adaptive states observer is constructed to estimate the unknown states. Combined with adaptive backstepping technique, an adaptive fuzzy output feedback control method is proposed. The proposed control method ensures that all signals in the closed-loop system are bounded, and that the tracking error converges to a bounded tight set without violating the full state constraint. The simulation results prove the effectiveness of the proposed control scheme.      

基于QoE感知的星地一体化网络公平资源分配策略

星地一体化网络是卫星网络和地面网络互联，实现卫星网络和地面网络优势互补的一体化网络。随着无线通信的快速发展，卫星网络和地面网络的同频复用技术可有效提升资源利用效率，满足日益增长的无线数据业务需求。但由于无线数据业务类型的多样化和频谱资源的稀缺性，如何实现用户数据服务的服务体验质量（Quality of experience， QoE）和公平性提升也成为星地一体化网络亟待解决的关键问题。本文综合考虑信道时变性、服务体验多样性和服务公平性，提出了一种基于QoE感知的星地一体化网络资源分配策略。为此，将目标问题描述为基于时间平均的服务体验质量的网络公平效用最大化，并利用李雅普诺夫优化理论，将复杂的动态原始优化问题进一步转化并分解为3个瞬时优化子问题，每个子问题可以在每个时隙独立求解。同时，由于无线资源分配为典型的非凹混合组合优化问题，推导了一个低复杂度的两步算法来求解第三个资源分配子问题。仿真结果揭示了在不同的公平性参数下用户的长时QoE与公平性之间的折衷情况。     

Adaptive actuator failure compensation design for unknown chaotic multi‐input systems

In this paper, an adaptive control approach is designed for compensating the faults in the actuators of chaotic systems and maintaining the acceptable system stability. We propose a state‐feedback model reference adaptive control scheme for unknown chaotic multi‐input systems. Only the dimensions of the chaotic systems are required to be known. Based on Lyapunov stability theory, new adaptive control laws are synthesized to accommodate actuator failures and system nonlinearities. An illustrative example is studied. The simulation results show the effectiveness of the design method. Copyright © 2014 John Wiley & Sons, Ltd.     

Flame morphology and self-acceleration of syngas spherically expanding flames

The self-acceleration of spherically expanding flames were investigated using a constant volume combustion chamber for CO/H₂/O₂/N₂ mixtures over a wide range of initial pressure from 0.2 to 0.6 MPa, CO/H₂ ratio from 50/50 to 10/90 and equivalence ratio from 0.4 to 1.5. The adiabatic flame temperature was kept constant by adjusting O₂/N₂ ratio at different equivalence ratios. Schlieren images were recorded to investigate the flame front evolution of spherically expanding flames. Local acceleration exponents were extracted using a proper equation to study the process of flame self-acceleration. Results show that the flame cells develop on the smooth flame fronts and finally reach fractal-like structures due to the hydrodynamic and diffusional-thermal instabilities, resulting in flame self-accelerative propagation. The critical Peclet number corresponding to the onset of self-acceleration, Pe_cr increases nonlinearly with the Markstein length, Ma. The observation further reveals that the onset of self-acceleration is mainly controlled by the diffusional-thermal effect. There exists two distinct flame propagation regimes in the self-acceleration, namely quick transition accelerative and quasi self-similar accelerative regimes. The quick transition regime is controlled by the destabilization effect of hydrodynamic perturbation and stabilization effect of flame stretch. While the quasi self-similar regime is primarily affected by the cascading process of flame front cells controlled by hydrodynamic instability. The self-similar acceleration exponent, α_s varies with the initial pressure and Lewis number, Le. The values of α_s are measured to be 1.1–1.25 (smaller than 1.5), indicating the flame dose not attain self-turbulization.     

A note on stability analysis of 2-D linear discrete systems based on the Fornasini–Marchesini second model: Stability with asymmetric Lyapunov matrix

A recently reported Lyapunov based criterion (Singh (2014) [7]) for the asymptotic stability of two-dimensional (2-D) linear discrete systems described by the Fornasini–Marchesini second local state-space (FMSLSS) model is reviewed. It is established in this paper that, despite utilizing a more general Lyapunov matrix, Singh's criterion will never lead to an enhanced stability region in the parameter-space as compared to that obtainable via Hinamoto–Lu's criterion.     

Explicit bounds for separation between Oseledets subspaces

We consider a two-sided sequence of bounded operators in a Banach space which are not necessarily injective and satisfy two properties (SVG) and (FI). The singular value gap (SVG) property says that two successive singular values of the cocycle at some index d admit a uniform exponential gap; the fast invertibility (FI) property says that the cocycle is uniformly invertible on the fastest d-dimensional direction. We prove the existence of a uniform equivariant splitting of the Banach space into a fast space of dimension d and a slow space of codimension d. We compute an explicit constant lower bound on the angle between these two spaces using solely the constants defining the properties (SVG) and (FI). We extend the results obtained by Bochi and Gourmelon in the finite-dimensional case for bijective operators and the results obtained by Blumenthal and Morris in the infinite dimensional case for injective norm-continuous cocycles, in the direction that the operators are not required to be globally injective, that no dynamical system is involved and no compactness of the underlying system or smoothness of the cocycle is required. Moreover we give quantitative estimates of the angle between the fast and slow spaces that are new even in the case of finite-dimensional bijective operators in Hilbert spaces.