非线性增益递归滑模动态面自适应NN控制

针对一类严反馈非线性不确定系统的跟踪控制问题,提出一种非线性增益递归滑模动态面 (Dynamic surface control, DSC)自适应控制方法. 通过设计一个新的非线性增益函数,并构造递归滑模动态面的控制策略和新的Lyapunov函数,同时利用神经网络在线逼近系统不确定项, 该方法有效解决了具有输入饱和约束条件下系统控制精度与动态品质间的矛盾,增强了控制器对其自身参数摄动的非脆弱性. 理论证明了闭环系统所有状态是半全局一致最终有界的,且跟踪误差可收敛至任意小.     

Saturation-based switching anti-windup design for linear systems with nested input saturation

This paper proposes a saturation-based switching anti-windup design for the enlargement of the domain of attraction of a linear system subject to nested saturation. A nestedly saturated linear feedback is expressed as a linear combination of a set of auxiliary linear feedbacks, which form a convex hull where the nestedly saturated linear feedback resides. This set of auxiliary linear feedbacks is then partitioned into several subsets. The auxiliary linear feedbacks in each of these subsets form a convex sub-hull of the original convex hull. When the value of the nestedly saturated linear feedback falls into a convex sub-hull, it can be expressed as a linear combination of the subset of all the auxiliary feedbacks that form the convex sub-hull. A separate anti-windup gain is designed for each convex sub-hull by using a common quadratic Lyapunov function and is implemented when the value of the nestedly saturated linear feedback falls into this convex sub-hull. Simulation results indicate that such a saturation-based switching anti-windup design has the ability to significantly enlarge the domain of attraction of the closed-loop system.     

基于N步不变集的时滞切换系统的饱和控制

构造离散时滞切换系统的不变集,提出基于N步不变集的切换控制器设计方法,估计执行器饱和非线性的吸引域范围。首先,考虑时滞的影响,选取依赖于时滞的Lyapunov函数,构造时滞切换系统的不变集,并将其表达为若干个椭球集的凸组合,椭球集的个数与时滞常数相关。其次,在系统的前N个采样时刻,分别施加不同的饱和约束,求解得到一组椭球集,椭球集的个数与常数N相关,而每一步计算得到的椭球集均为时滞切换系统的不变集。再将N个不变集用一组凸包系数拟合,即可获取较大的吸引域估计。最后,在满足平均驻留时间约束的条件下设计切换律,并设计状态反馈控制器,保证闭环系统渐近稳定。控制器的求解转化为线性矩阵不等式的可行性问题。仿真结果验证了所提方法的可行性和有效性。     

Combination of computational prescreening and experimental library construction can accelerate enzyme optimization by directed evolution

Chiral compounds can be produced efficiently by using biocatalysts. However, wild-type enzymes often do not meet the requirements of a production process, making optimization by rational design or directed evolution necessary. Here, we studied the lipase-catalyzed hydrolysis of the model substrate 1-(2-naphthyl)ethyl acetate both theoretically and experimentally. We found that a computational equivalent of alanine scanning mutagenesis based on QM/MM methodology can be applied to identify amino acid positions important for the activity of the enzyme. The theoretical results are consistent with concomitant experimental work using complete saturation mutagenesis and high-throughput screening of the target biocatalyst, a lipase from Bacillus subtilis. Both QM/MM-based calculations and molecular biology experiments identify histidine 76 as a residue that strongly affects the catalytic activity. The experiments demonstrate its important influence on enantioselectivity.     

On-line determination of supersaturation of a kcl-nacl aqueous solution based on density measurement

A method is developed for the calculation of the saturation temperature of a KCI-NaCI aqueous solution, based on the measurement of the density and temperature of a sample solution, and prior knowledge of the NaCl concentration. Experimental density and solubility data for solutions saturated with KCI in the temperature range of 299 to 321 K with concentrations of NaCl greater than 0.200 kg/kg H₂O were used to develop the empirical correlation allowing the calculation of the solution saturation level. The method is applicable in the on-line determination of the level of supersaturation in a KCI crystallizer in which the NaCl concentration is known. Knowledge of the prevailing supersaturation is necessary for the control of crystal purity and crystal size distribution in industrial potash crystallizers.     

Mixed H2/H∞ robust model predictive control with saturated inputs

In this paper, we investigate the mixed H₂/H_∞ robust model predictive control (RMPC) for polytopic uncertain systems, which refers to the infinite horizon optimal guaranteed cost control (OGCC). To fully use the capability of actuators, we adopt a saturating feedback control law as the control strategy of RMPC. As the saturating feedback control law can be effectively represented by the convex hull of a group of auxiliary linear feedback laws, the auxiliary feedback laws allow us to design the actual feedback control law without consideration of the input constraints directly to achieve the improved performance. Moreover, we suggest the relative weights on the actual and auxiliary feedback laws to the RMPC, which in turn improves the closed-loop system performance. Furthermore, an off-line design of the proposed RMPC is also developed to make it more practical. Numerical studies demonstrate the effectiveness of the proposed algorithm.     

高C3S含量硅酸盐水泥熟料极限石灰率值选择及控制方法的探讨

分析了不同C3S含量硅酸盐水泥熟料的矿物形成过程、易烧性及矿相结构差异,对高C3S含量硅酸盐水泥熟料适宜的极限石灰率值选择及控制方法进行了探讨。分析表明,高C3S含量硅酸盐水泥熟料的配料,宜采用李和派克石灰饱和系数LSF控制极限石灰数量,无论硅酸率及铝氧率如何变化,LSF值必须<1。对于低硅酸率高C3S含量熟料,LSF应偏低控制,对于高铁配方熟料,LSF宜偏低控制;视硅酸率不同,熟料LSF低限值可至0.96附近。     

Semiglobal synchronization of multiple generic linear agents with input saturation

This paper investigates the semiglobal synchronization problem for a group of agents with input saturation under directed interaction topology, where each agent is modeled as a generic linear system rather than the single‐integrator or double‐integrator dynamics. The main result is the construction of a feedback coupling gain that achieves semiglobal synchronization if all the agents have identically saturated linear dynamics, which can be of any order. It is shown that the coupling gain obtained via parametric Lyapunov equations can semiglobally synchronize any directed network provided that the interaction topology has a directed spanning tree. Furthermore, due to the use of parametric Lyapunov equations, a convergence rate is analytically obtained. Finally, a simulation example is provided to demonstrate the effectiveness and advantages of our theoretical findings. Copyright © 2013 John Wiley & Sons, Ltd.     

输入受限线性系统鲁棒抗饱和控制

针对抗饱和控制的鲁棒性问题,将研究扩展到对输入饱和非线性、时变参数和动态不确定性具有结构摄动的鲁棒性框架内,给出了一种线性时不变系统鲁棒抗饱和控制算法.鉴于积分二次型约束具有刻画结构不确定性的能力,选择在积分二次型约束框架下解决问题.以定标的线性矩阵不等式形式给出了系统分析和控制综合条件.飞行控制仿真结果说明此算法不仅可以成功克服饱和非线性,且对时变参数和动态不确定性具有良好的鲁棒性.