Adaptive global stabilization of chained-form systems with multiple disturbance and strong nonlinear drifts

This article investigates the stabilization of chained-form nonholonomic systems with strong drifts, multidisturbances, and unknown constant parameters. The disturbances include the matched disturbance with bounded variation and the unknown time-varying unmatched disturbance. A nonlinear disturbance observer is skillfully constructed to evaluate the matched disturbance and a disturbance estimation is used in the virtual controls to compensate the unmatched disturbance. By using a new input-to-state scaling scheme, the original nonholonomic system is transformed into a strict feedback form. Combining back-stepping technique with disturbance observer-based control (DOBC), a composite DOBC and global adaptive stabilization controller is proposed. A switching strategy based on control input magnitude instead of time is proposed to avoid uncontrollability. By using Lyapunov tools, all the states in the system are proved to be uniformly ultimate bounded. Simulations demonstrate the effectiveness of the proposed strategies.     

Impulse controls and uncertainty in economics: Method and application

We develop a stochastic optimal control framework to address an important class of economic problems where there are discontinuities and a decision maker is able to undertake impulse controls in response to unexpected disturbances. Our contribution is two fold: (1) to develop a linear programming algorithm that produces a consistent approximation of the maximum value and optimal policy functions in the context of stochastic impulse controls; and (2) to illustrate the economic benefits of impulse controls optimized, using our framework, and calibrated to the population dynamics of a marine fishery. We contend that the framework has wide applicability and offers the possibility of higher economic pay-off for a wide-range of policy problems in the presence of discontinuities and adverse shocks.     

An enhanced anti-disturbance attitude control law for flexible spacecrafts subject to multiple disturbances

As well-known disturbance rejection methods, active disturbance rejection control and disturbance observer-based control can effectively improve the control performances of complex systems in the presence of disturbances. However, the accurate rejection of multiple disturbances for control systems of practical engineering, for example, the attitude control system of flexible spacecraft, is still a bottleneck problem. In order to further improve the anti-disturbance capability and reduce the conservativeness, this paper proposes a novel enhanced anti-disturbance control law for the attitude control system of flexible spacecraft by combining active disturbance rejection control and disturbance observer-based control in a unified framework. More specifically, the disturbance from flexible vibration is described by an uncertain exogenous system based on the partially known information including elastic damping ratios and modal frequencies. The disturbance observer-based control is utilized to estimate and thereby reject this disturbance. On the other hand, the other disturbances such as external environmental disturbance and complex model nonlinearity are merged into a equivalent disturbance with bounded derivative, which is compensated by using the active disturbance rejection control law. Stability and robustness analysis are carried out for the disturbance observer and extended state observer. Finally, simulation results of low-earth-orbit flexible satellite are presented to verify the effectiveness of proposed methods.     

Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives

This paper focuses on the current control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. To improve the performance of the PMSM current loop in terms of the speed of response, tracking accuracy, and robustness, a hybrid control strategy is proposed by combining the adaptive sliding mode control and sliding mode disturbance observer (SMDO). An adaptive law is introduced in the sliding mode current controller to improve the dynamic response speed of the current loop and robustness of the PMSM drive system to the existing parameter variations. The SMDO is used as a compensator to restrain the external disturbances and reduce the sliding mode control gains. Experiments results demonstrate that the proposed control strategy can guarantee strong anti-disturbance capability of the PMSM drive system with improved current and speed-tracking performance.     

Interval functional observers for time-delay systems with additive disturbances

This article considers the design of interval functional observers to estimate a linear function of the state vector of time-delay systems subject to both input and output additive disturbances. Two novel functional observers are proposed and designed such that they bound the set of all admissible values of a linear function of the state vector at each instant of time. By contrast to interval observers currently available in the literature, both observers proposed in this article utilize multiple delayed output measurement and have a more general structure. This trade-off feature overcomes some drawbacks in previous work and enables interval functional observers to be designed for a wider class of time-delay systems. Conditions for the existence of interval functional observers are derived and an effective design algorithm for computing unknown observer matrices is provided. Two illustrative examples are given to show the advantages and effectiveness of our design method.     

Role of Polyinosinic:Polycytidylic Acid-Induced Maternal Immune Activation and Subsequent Immune Challenge in the Behaviour and Microglial Cell Trajectory in Adult Offspring: A Study of the Neurodevelopmental Model of Schizophrenia

Multiple lines of evidence support the pathogenic role of maternal immune activation (MIA) in the occurrence of the schizophrenia-like disturbances in offspring. While in the brain the homeostatic role of neuron-microglia protein systems is well documented, the participation of the CX3CL1-CX3CR1 and CD200-CD200R dyads in the adverse impact of MIA often goes under-recognized. Therefore, in the present study, we examined the effect of MIA induced by polyinosinic:polycytidylic acid (Poly I:C) on the CX3CL1-CX3CR1 and CD200-CD200R axes, microglial trajectory (MhcII, Cd40, iNos, Il-1β, Tnf-α, Il-6, Arg1, Igf-1, Tgf-β and Il-4), and schizophrenia-like behaviour in adult male offspring of Sprague-Dawley rats. Additionally, according to the “two-hit” hypothesis of schizophrenia, we evaluated the influence of acute challenge with Poly I:C in adult prenatally MIA-exposed animals on the above parameters. In the present study, MIA evoked by Poly I:C injection in the late period of gestation led to the appearance of schizophrenia-like disturbances in adult offspring. Our results revealed the deficits manifested as a diminished number of aggressive interactions, presence of depressive-like episodes, and increase of exploratory activity, as well as a dichotomy in the sensorimotor gating in the prepulse inhibition (PPI) test expressed as two behavioural phenotypes (MIA_PPI-low and MIA_PPI-high). Furthermore, in the offspring rats subjected to a prenatal challenge (i.e., MIA) we noticed the lack of modulation of behavioural changes after the additional acute immune stimulus (Poly I:C) in adulthood. The important finding reported in this article is that MIA affects the expression and levels of the neuron-microglia proteins in the frontal cortex and hippocampus of adult offspring. We found that the changes in the CX3CL1-CX3CR1 axis could affect microglial trajectory, including decreased hippocampal mRNA level of MhcII and elevated cortical expression of Igf-1 in the MIA_PPI-high animals and/or could cause the up-regulation of an inflammatory response (Il-6, Tnf-α, iNos) after the “second hit” in both examined brain regions and, at least in part, might differentiate behavioural disturbances in adult offspring. Consequently, the future effort to identify the biological background of these interactions in the Poly I:C-induced MIA model in Sprague-Dawley rats is desirable to unequivocally clarify this issue.     

Robust nonlinear adaptive backstepping excitation controller design for rejecting external disturbances in multimachine power systems

This paper proposes a new approach to design a robust adaptive backstepping excitation controller for multimachine power systems in order to reject external disturbances. The parameters which significantly affect the stability of power systems (also called stability sensitive parameters) are considered as unknown and the external disturbances are incorporated into the power system model. The proposed excitation controller is designed in such a way that it is adaptive to the unknown parameters and robust to external disturbances. The stability sensitive parameters are estimated through the adaptation laws and the convergences of these adaptation laws are obtained through the negative semi-definiteness of control Lyapunov functions (CLFs). The proposed controller not only provides robustness property against external disturbances but also overcomes the over-parameterization problem of stability sensitive parameters which usually appears in some conventional adaptive methods. Finally, the performance of the proposed controller is tested on a two-area four machine 11-bus power system by considering external disturbances under different scenarios and is compared to that of an existing nonlinear adaptive backstepping controller. Simulation results illustrate the robustness of the proposed controller over an existing one in terms of rejecting external disturbances.     

Mismatched disturbance attenuation control for static var compensator with uncertain parameters

The use of a static var compensator (SVC) as a component of flexible alternating current transmission system (FACTS) devices to control power systems has been investigated for decades. Its aim is to regulate the system voltage and improve the stability and loadability of power systems. A typical assumption in such a system is that the parameters of the controlled system are known accurately, which is rarely satisfied in practice. This paper explores the development of a simple but effective controller for a single-machine infinite-bus power system with SVC subjected to both matched and mismatched disturbances where the controller derivation is based on the assumption that all parameters used in the system modeling are unknown, but bounded in size. The research in this paper illustrates how an indirect robust control can be incorporated with a modified disturbance observer-based feedforward term to attenuate the influence of parameter variations and disturbances from the outputs of the system. Simulation results are presented to confirm the effectiveness of the proposed scheme.     

采用改进多分辨率快速S变换的电能质量扰动识别

噪声干扰是影响电能质量暂态扰动识别准确率的最重要因素。经过S变换后获得的扰动信号的模时–频矩阵具有灰度图像特点。因此,可通过二维数学形态学方法,滤除噪声干扰,获得更高的识别准确率。首先,针对扰动信号时–频分布特点,设计具有不同时–频分辨率的多分辨率快速S变换方法以降低运算量、提高特征表现能力;之后,在阈值滤波基础上,根据信号时–频分布特点,选择线段型、零角度结构元进行灰度级形态学开运算,进一步滤除高频频域噪声;最后,从原始信号、信号傅里叶谱、多分辨率快速S变换模矩阵中提取5种特征建立决策树分类器,识别含噪声信号与6种复合扰动信号在内的12种电能质量信号。通过仿真对比实验发现,新方法具有更好的抗噪能力,更加适用于低信噪比环境下的电能质量信号识别。     

两种扰动源引起电压暂降的快速检测及特征分析

电压暂降在电网中具有一定的传播性,无论从电网还是用户都迫切需要对电压暂降进行研究和治理。作为解决电压暂降问题的前提,需先对其检测方法进行研究。分析了感应电动机启动和变压器激磁两种扰动情况引起电压暂降的原因,在此基础上采用了基于S变换的短时电能质量扰动检测方法,从S变换的结果中提取出所需数据,并以此来对上述两种扰动情况的暂降深度、相位跳变、持续时间和谐波含量进行分析。仿真结果表明,该方法很好地实现了对电压暂降各特征量的检测;在对暂降录波波形数据进行后续离线分析应用方面具有较高的实用价值。