On one boundary problem for nonlinear stationary controlled system

The object of study is nonlinear stationary controlled system of ordinary differential equations with constant disturbance in the right part. The problem of constructing the synthesising control function providing the transfer of this system from the initial state to the origin is considered. The sufficiently simple for numerical implementation algorithm of solution of the above-mentioned problem is obtained. It is shown that for local null controllability of the considered system, it is sufficient that the conditions of the Kalman's type were satisfied. In addition, the estimates restricting the choice of initial conditions and external disturbances under which the transfer is guaranteed are obtained. The main idea of the method of construction of the desired control function consists in reducing the original problem to stabilisation of a special kind linear non-stationary system and solving the Cauchy problem for an auxiliary system of ordinary differential equations closed by stabilising control. The simplicity of the realisation of this algorithm is determined by the construction of the auxiliary system and its stabilisation that could be obtained by analytical methods. The effectiveness of the method is illustrated by solving the problem of crane control and its numerical simulation.     

Control strategies for reactive batch distillation

A batch reactor may be combined directly with a distillation column by distilling off the light component product in order to increase the reactor temperature or to improve the product yield of an equilibrium reaction. The same amount of the light product should be removed as the amount being formed by the reaction at any time. A linearized model has been developed which describes the process behaviour satisfactorily for control analysis purposes. The controllability of a combined batch reactor/batch distillation column is found to depend strongly on the operating conditions and on the time during the run. In general, controlling only the reactor temperature (one-point bottom control) is difficult since the set-point has to be specified below a maximum value in order to avoid break-through of an intermediate component in the ditillate. This maximum value may be difficult to know a priori. For the example considered in this study, control of both reactor temperature and distillate composition (two-point control) is also found to be difficult due to large interactions in the column. As with one-point bottom control, the reactor temperature has to be specified below a maximum value. However, energy can be saved since the heat duty can be decreased with time. Controlling the temperature on a tray in the column (one-point column control) is found to give good performance for the given process with no loss of reactant and a high reactor temperature, although no direct control of the reactor temperature is obtained.     

Analysis of exclusively kinetic two-link underactuated mechanical systems

Analysis of exclusively kinetic two-link underactuated mechanical systems is undertaken in this paper. It is first shown that such systems are not full-state feedback linearizable around any equilibrium point. Also, the equilibrium points for which the system is small-time locally controllable (STLC) is at most a one-dimensional submanifold. A concept less restrictive than STLC, termed the small-time local output controllability (STLOC) is introduced, the satisfaction of which guarantees that a chosen configuration output can be controlled at its desired value. It is shown that the class of systems considered is STLOC, if the inertial coupling between the input and output is nonzero. Also, in such a case, the system is nonminimum phase. An example section illustrates all the results presented.     

一类连续时间广义边值系统的能控性和能观性

连续时间广义边值系统被描述为Ｅｘ（ｔ）＝Ａｘ（ｔ）＋Ｂｕ（ｔ），Ｖ０ｘ（０）＋Ｖｒｘ（Ｔ）＝ｖ，其中Ｅ是奇异方阵，ｕ（ｔ）满足任意次可微，本文讨论了一类连续时间广义边值系统的有关向内和向外边值过程的两个重要概念，并在此基础上给出了能控性和能观性定义和判别准则．     

Averaged control

We analyze the problem of controlling parameter-dependent systems. We introduce the notion of averaged control according to which the quantity of interest is the average of the states with respect to the parameter.First we consider the problem of controllability for linear finite-dimensional systems and show that a necessary and sufficient condition for averaged controllability is an averaged rank condition, in the spirit of the classical rank condition for linear control systems, but involving averaged momenta of any order of the matrices generating the dynamics and representing the control action.We also describe some open problems and directions of possible research, in particular on the average controllability of evolution partial differential equations. In this context we analyze also the averaged version of a classical optimal control problem for a parameter dependent elliptic equation and derive the corresponding optimality system.     

Output controllability and optimal output control of state-dependent switched Boolean control networks

In the present paper, we investigate the output-controllability and optimal output control problems of a state-dependent switched Boolean control network. By using the semi-tensor product, the algebraic form of the system is obtained. Then, output-controllability problems of the system are discussed and some necessary and sufficient conditions are given. Next, the Mayer-type optimal output control issue is considered and an algorithm is provided to find out the control sequence. At last, an example is given to show the effectiveness of the main results.     

信标可控性定义及问题

死锁是资源分配系统中极不希望出现的现象,目前死锁控制的一个重要的方法是信标控制法,信标控制法的基础是信标可控性的定义.对于普通Petri网,已有一个完善的信标可控性定义,而对于一般Petri网,这方面的工作还需改进和完善.近年来,学者们针对一般Petri 网及其子类提出了不少信标可控性定义,但这些定义并不完善,仍有大量的问题亟待解决.首先回顾了文献中的各个信标可控性定义,提出了两个新的信标可控性定义,然后从可控性定义的宽松程度、应用范围以及等价性等方面分析比较了现有的信标可控性定义优缺点.最后给出了今后的研究方向.     

双向通信无人机集群领航顶点选取方法

领航顶点选取是关系到领航-跟随模式无人机集群等多智能体系统可控性的重要问题。以具有几十架个体的无人机集群为研究对象,针对领航顶点选取问题,基于Laplace矩阵的特征向量,提出关键集概念。从理论上证明2关键集、3关键集以及独立关键集的图特征。在此基础上,给出求无向网络最小关键集的CSA算法,通过数值仿真实验获得了不同规模、不同通信半径条件下无人机集群最小领航集的数值特征。     

网络环境下不敏感系统的分布式区域预测控制方法

针对二分图网络结构下的不敏感系统的可控性比较差的问题,本文提出了带有区域控制的分布式模型预测控制方法.该方法首先利用分支定界法对分布式控制系统结构进行最优设计;然后,结合区域控制提高控制系统的动态性能指标;最后,依据回路之间的关联性的强弱选择每个回路的控制方式(精确控制或区域控制).仿真结果显示带有区域控制的分布式预测控制系统的调节时间比没有带区域控制的分布式控制系统明显缩短;同时,通过对回路控制方式的选择增加了精确控制的智能体数量.仿真结果证明了利用分布式区域预测控制方法可以提高系统的容错性,通过对系统的可控性和关联性进行分析,可以在精确控制和区域控制之间寻找到最优组合,从而达到快速精确的控制效果.     

Study of a Class of Almost‐controllable Discrete‐time Bilinear Systems

This paper studies the controllability of a class of time‐invariant discrete‐time bilinear systems. Although the system is not controllable in the whole space, there is a very large region where control is effective. Results show that the uncontrollable region of this kind of bilinear system has a Lebesgue measure of zero. In other words, for almost any initial state and any terminal state in the state space, the former can be transferred to the latter. Further, a necessary condition for near controllability is presented. Therefore, the results in this paper unify and generalize the corresponding conclusions in the literature. ©2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd