动态扰动解耦补偿器

本文利用极大绝对能观子系统及其对偶概念,对扰动解耦问题有解的充要条件给出了一个新的形式。对一类多输入多输出系统,给出了解耦补偿器的一般形式和稳定解耦的充要条件。     

对《关于极大绝对能观子系统的一个判别条件》的答复

陈树中、郑毓蕃两同志的下述意见是正确的,即我们在文[1]中所给命题3的必要性条件是不对的。在此,向陈树中,郑毓蕃两同志表示衷心感谢。 实质上,系统的能观“子空间”不是A的不变子空间,因此命题3的结论相差了一个座标变换阵。即命题3改成如下叙述才是正确的: 命题3 设在系统阵(8)中,A_1是一个绝对能观子系统,则它是极大绝对能观子系统的充分必要条件是:存在满足关系     

一类带扰动线性开关系统的误差反馈输出调节问题

研究了带扰动线性开关系统的输出调节问题,在开关系统的一个凸组合系统输出调节问题可解的条件下,设计每个子系统的控制器及开关系统的切换规律,从而给出开关系统输出调节问题的控制策略.     

一类带扰动线性开关系统的误差反馈输出调节问题

研究了带扰动线性开关系统的输出调节问题,在开关系统的一个凸组合系统输出调节问题可解的条件下,设计每个子系统的控制器及开关系统的切换规律,从而给出开关系统输出调节问题的控制策略。     

关于极大绝对能观子系统的一个判别条件

一个反例表明,文献中关于极大绝对能观子系统的必要条件不成立。对该命题,我们在更一般条件下给出了一个正确的表述。     

离散事件动态系统的输出反馈与周期配置

对一类用极大代数描述的离散事件动态系统,本文得到了能用输出反馈任意配置其周期的充分必要条件.证明了一个系统如果能用输出反馈任意配置周期,那么它是能达能观的.     

一类非线性飞行控制系统鲁棒故障诊断

针对一类仿射非线性飞行控制系统的执行器故障,提出了一种基于微分几何方法的鲁棒故障诊断方案.各个输入通道相应的不可观分布满足条件时,可以通过分别在状态空间和输出空间进行同胚变换,将原系统化为多个只受单一通道故障输入影响的能观商子系统.原系统的残差生成器设计问题转化为对其各通道能观商子系统的观测器设计,实现残差与其他通道故...     

高压饱和气体制备系统饱和室多变量控制研究

高压饱和气体制备系统的饱和室出口压力、流量和温度调节系统是一个相互耦合的三输入三输出系统。针对以上特点采用部分解耦控制策略,压力—流量调节子系统采用静态解耦的专家控制方式,温度调节子系统采用串级模糊PID控制方式。通过仿真试验证明这种控制策略能够获得良好的控制效果。     

机器人多级自适应控制器鲁棒性分析

本文给出了机器人关节系统多级自适应控制器的鲁棒性分析.分析表明机器人多级自适应控制系统即使子系统间存在相互关联项和子系统存在未建模特性.采用σ-修正法也能保证系统的输出有界.     

一类线性切换系统的事件触发输出调节问题

通过设计事件触发状态反馈控制器,研究一类线性切换系统的输出调节问题.相比于时间触发控制,事件触发控制可显著地降低控制任务执行的次数.由于事件触发时刻与切换时刻的相互混合,导致切换系统控制器的设计十分困难.本文通过给出事件触发机制、状态反馈控制器和满足平均驻留时间的切换信号联合设计的方案,得到系统输出调节问题可解的充分条件.非共同坐标变换突破原有各子系统的调节器方程组具有共同解的限制.此外,为了避免Zeno现象,给出相邻事件触发间隔时间存在一个正下界.最后,应用切换RLC电路系统进行仿真验证结论的有效性.     

Robust observer-driven switching stabilization of switched linear systems

In this work, we study the robust observer-driven switching stabilization problem of switched linear systems. Under the condition that each subsystem is completely observable, with the observer-driven switching law which makes the system exponentially stable for the nominal system, we prove that the overall system is robust against structural/switching perturbations and is input/output to state stable for unstructural perturbations.     

State observability and condition observability for a class of interacting discrete event systems

This paper introduces the concepts of state observability and condition observability for condition systems, a class of systems composed of discrete state components which interact via discrete binary signals called conditions. Given a set of externally observed conditions, state observability implies that the state of the system can be determined from the observations, and condition observability implies that all unobserved input and output conditions of the system can be determined from the observations. In this paper, we present a class of systems which is state observable and condition observable. We present a method to synthesize an observer system to provide state and condition signal estimates for a single component subsystem.     

High gain observer for a class of nonlinear systems with coupled structure and sampled output measurements: application to a quadrotor

This paper proposes a new high gain observer for a class of non-uniformly observable nonlinear systems with coupled structure driven by sampled outputs. The considered class of systems is particularly constituted by several subsystems where each subsystem is associated to a subset of the output variables. The observer design is carried out through two steps. First, a high-gain observer is proposed in the continuous-time output case under the assumption that an adequate persistent excitation condition is satisfied by each subsystem. Then, the proposed observer is redesigned to handle the case of sampled outputs leading thereby to a continuous-discrete time observer. The latter property is achieved thanks to the approach pursued along the convergence analysis. The effectiveness of the proposed observer is emphasised in a realistic simulation framework involving a mathematical model of a quadrotor which is diffeomorphic to the proposed class of considered systems.     

线性控制系统规范结构的新解释与它的算法

应用绝对能观性的概念可以对线性控制系统的规范结构赋于新的解释。文中指出,规范结构由四部分组成,即绝对能观但不能控;绝对能控但不能观;绝对能观与能控;绝对不能观不能控。应用我们引入的方法,规范结构可以用矩阵的初等变换来实现。     

PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM

This paper is concerned with position regulation in one-degree-of-freedom Euler–Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler–Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.     

Robustness of absolute stability†

The stability of a class of single-input, single-output singularly perturbed systems formed by a linear time-invariant feedforward block with a sector bounded time varying feedback is considered. It is shown that if the reduced order ‘ slow ’ subsystem is absolutely stable and the parasitics are asymptotically stable and sufficiently fast then the full system is absolutely stable. Bounds on the singular perturbation parameter for uniform asymptotic stability and absolute stability are obtained.     

Output regulation boundary control of first-order coupled linear MIMO hyperbolic PIDE systems

ABSTRACT

The work addresses the output regulation problem for coupled linear multiple input multiple output (MIMO) hyperbolic partial integro-differential equation systems with disturbances affecting the systems through the space and boundary input. The exosystems are extended to generate ramp signals and general family of polynomial signals. The system decomposition is applied through the state transformation and yields a decoupled equivalent system. Based on the decoupled form, the backstepping transformation is applied and then in the new coordinate, the full state and output-feedback regulators are designed, respectively. For the state feedback regulator, the corresponding regulator equation is obtained and its solvability conditions are provided to facilitate the regulator design and feasibility. The design of observer-based regulator is based on the decoupling of the observer error system into a PDE subsystem and an ODE subsystem so that the backstepping approach achieves stabilisation by eigenvalue assignment leading to design of observer stabilizing gains.