共查询到20条相似文献,搜索用时 31 毫秒
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考虑一类常数时滞切换大系统的分散状态反馈控制器设计问题。在低维时滞子系统的单个子系统均不能被镇定的情况下,基于凸组合技术和线性矩阵不等式方法,设计出分散控制器和分散切换律,保证闭环系统渐近稳定。仿真结果表明所设计方法的可行性和有效性。 相似文献
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Output feedback stabilization for time-delay nonlinear interconnected systems using neural networks. 总被引:1,自引:0,他引:1
In this paper, dynamic output feedback control problem is investigated for a class of nonlinear interconnected systems with time delays. Decentralized observer independent of the time delays is first designed. Then, we employ the bounds information of uncertain interconnections to construct the decentralized output feedback controller via backstepping design method. Based on Lyapunov stability theory, we show that the designed controller can render the closed-loop system asymptotically stable with the help of the changing supplying function idea. Furthermore, the corresponding decentralized control problem is considered under the case that the bounds of uncertain interconnections are not precisely known. By employing the neural network approximation theory, we construct the neural network output feedback controller with corresponding adaptive law. The resulting closed-loop system is stable in the sense of semiglobal boundedness. The observers and controllers constructed in this paper are independent of the time delays. Finally, simulations are done to verify the effectiveness of the theoretic results obtained. 相似文献
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This paper deals with the issue of reliable control for discrete‐time switched linear systems with faulty actuators by utilizing a multiple Lyapunov functions method and estimate state‐dependent switching technique. A solvability condition for the reliable control problem is given in terms of matrix inequality with an extra matrix variable. This condition allows the reliable control problem for each individual subsystem to be unsolvable. For each subsystem of such a switched system, we design an observer and an observer‐based controller. A switching rule depending on the observer state is designed which, together with the controllers, can guarantee the stability of the closed‐loop switched system for all admissible actuator failures. The observers, controllers, and switching law are explicitly computed by solving linear matrix inequalities (LMIs). The proposed design method is illustrated by two numerical examples. 相似文献
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Observer‐based decentralized adaptive control for large‐scale pure‐feedback systems with unknown time‐delayed nonlinear interactions
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Sung Jin Yoo 《国际强度与非线性控制杂志
》2015,25(8):1107-1125
》2015,25(8):1107-1125
This paper presents an approximation design for a decentralized adaptive output‐feedback control of large‐scale pure‐feedback nonlinear systems with unknown time‐varying delayed interconnections. The interaction terms are bounded by unknown nonlinear bounding functions including unmeasurable state variables of subsystems. These bounding functions together with the algebraic loop problem of virtual and actual control inputs in the pure‐feedback form make the output‐feedback controller design difficult and challenging. To overcome the design difficulties, the observer‐based dynamic surface memoryless local controller for each subsystem is designed using appropriate Lyapunov‐Krasovskii functionals, the function approximation technique based on neural networks, and the additional first‐order low‐pass filter for the actual control input. It is shown that all signals in the total controlled closed‐loop system are semiglobally uniformly bounded and control errors converge to an adjustable neighborhood of the origin. Finally, simulation examples are provided to illustrate the effectiveness of the proposed decentralized control scheme. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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《Automatic Control, IEEE Transactions on》1998,43(2):294-299
In this paper, the problem of decentralized output feedback stabilization for a class of nonlinear uncertain interconnected systems with similar subsystems is considered, and a type of controller with holographic structure is developed. It is shown that both the analyses of systems and the design of controllers are simplified by a similar structure. Finally, an example is presented to illustrate the results given in this paper and an estimation of the associated stabilized domain. Simulation shows that our method is very effective 相似文献
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HANSHENG WU 《International journal of systems science》2013,44(12):2597-2608
The design problem of decentralized robust controllers is considered for a class of large-scale systems. The system considered in this paper is composed of interconnected subsystems with time-varying uncertainties. For such large-scale uncertain systems, we give a simple und new method whereby we can derive the sufficient conditions for asymptotically stabilizing the overall system using decentralized feedback robust controllers. An illustrative example is given to demonstrate the design procedure of the decentralized feedback robust controllers, in the light of the method developed in this paper. 相似文献
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Ian R. Petersen 《国际强度与非线性控制杂志
》2014,24(2):191-213
》2014,24(2):191-213
This paper presents a new method to construct a decentralized nonlinear robust H ∞ controller for a class of large‐scale nonlinear uncertain systems. The admissible uncertainties and nonlinearities in the system satisfy integral quadratic constraints and global Lipschitz conditions, respectively. The decentralized controller, which is required to be stable, is capable of exploiting known nonlinearities and interconnections between subsystems without treating them as uncertainties. Instead, additional uncertainties are introduced because of the discrepancies between nondecentralized and decentralized nonlinear output feedback controllers. The H ∞ control objective is to achieve an absolutely stable closed‐loop system with a specified disturbance attenuation level. A solution to this control problem involves stabilizing solutions to algebraic Riccati equations parametrized by scaling constants corresponding to the uncertainties and nonlinearities. This formulation is nonconvex; hence, an evolutionary optimization method is applied to solve the control problem considered. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
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提出一种切换模糊组合系统模型并讨论其鲁棒控制问题.分别利用单Lyapunov函数方法和多Lyapunov函数方法设计出分散切换律和控制器,给出了系统在分散切换律和分散控制器作用下的矩阵不等式可镇定条件.仿真结果表明了该设计方法的有效性. 相似文献
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Decentralized stabilization of Markovian jump interconnected systems with unknown interconnections and measurement errors
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This paper investigates the decentralized output feedback control problem for Markovian jump interconnected systems with unknown interconnections and measurement errors. Different from some existing results, the global operation modes of all subsystems are not required to be completely accessible for the decentralized control system. A decentralized dynamic output feedback controller is constructed using neighboring mode information and local outputs, where the measurement errors between actual and measured outputs are considered. Subsequently, a new design method is developed such that the resultant closed‐loop system is stochastically stable and satisfying an L∞‐norm constraint. Sufficient conditions are formulated by linear matrix inequalities, and the controller gains are characterized in terms of the solution of a convex optimization problem. Finally, an example is given to illustrate the effectiveness of the proposed theoretical results. 相似文献
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This work deals with decentralized control of multiple nonholonomic mobile sensors for optimal coverage of a given area for sensing purposes. We assume a density function over the region to be covered, which can be viewed as a probability density of the phenomena to be sensed. The density function is unknown but assumed to be linearly parameterized with unknown parameter weights. We consider a second‐order dynamic model for the mobile agents and derive decentralized adaptive control laws to achieve optimal coverage of the region. We then consider the case where the dynamic model of the agents are not fully known, and then develop parameter adaptation laws to achieve the optimal coverage objective. We test the derived algorithms using simulations and compare our proposed controllers with kinematics‐based controllers. We find that the feedback control design based on the dynamic model performs significantly better than controllers solely relying on kinematic models. Furthermore, for the unknown dynamics case, our controller outperforms the nonadaptive controller with poor initial parameter estimates. 相似文献
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This short paper Treats the problem of designing output deadbeat controllers having the property that the control input to the system converges to zero as time goes to infinity, for discrete-time multivariable linear systems. Two configurations of controllers are considered: one is of state feedback; the other is a dynamic controller using an observer. The existence of such controllers is examined, and the methods are presented for designing such controllers when they exist. The controller using a state feedback obtained in this paper is optimal in the sense that the controller settles the output in zero for any initial state in the minimum number of steps. On the other hand, the dynamic controller is not optimal in that sense, but it minimizest , wheret is defined as an integer such that the controller drives the output to zero in no more thant steps for any set of initial conditions of the system and the observer. 相似文献
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The objective of this paper is to propose a generalized approach to stabilization of systems which are composed of linear time‐delay subsystems coupled by linear time‐varying interconnections. The proposed algorithms, which are formulated within the convex optimization framework, provide decentralized solutions to the problem of delay‐dependent asymptotic stability with strict dissipativity. It is established that the new methodology can reproduce earlier results on passivity, positive realness and disturbance attenuation. Then a decentralized structure of dissipative state‐feedback controllers is designed to render the closed‐loop interconnected system delay‐dependent asymptotically stable with strict dissipativity. Numerical examples are presented to illustrate the applicability of the design method. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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Backstepping design for global stabilization of switched nonlinear systems in lower triangular form under arbitrary switchings 总被引:1,自引:0,他引:1
Ruicheng Ma Author Vitae 《Automatica》2010,46(11):1819-1823
This paper is concerned with the global stabilization problem for switched nonlinear systems in lower triangular form under arbitrary switchings. Two classes of state feedback controllers and a common Lyapunov function (CLF) are simultaneously constructed by backstepping. The first class uses the common state feedback controller which is independent of switching signals; the other class utilizes individual state feedback controllers for the subsystems. As an extension of the designed method, the global stabilization problem under arbitrary switchings for switched nonlinear systems in nested lower triangular form is also studied. An example is given to show the effectiveness of the proposed method. 相似文献
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Tae-Yong Doh Jung Rae Ryoo Dong Eui Chang 《International Journal of Control, Automation and Systems》2014,12(1):63-70
Iterative learning controllers combined with existing feedback controllers have prominent capability of improving tracking performance in repeated tasks. However, the iterative learning controller has been designed without utilizing effective information such as the performance weighting function to design a feedback controller. In this paper, we deal with a robust iterative learning controller design problem for an uncertain feedback control system using its explicit performance information. We first propose a robust convergence condition in the ?2-norm sense for an iterative learning control (ILC) scheme. We present a method to design an iterative learning controller using the information on the performance of the existing feedback control system such as performance weighting functions and frequency ranges of desired trajectories. From the obtained results, several design criteria for iterative learning controller are provided. Through analysis on the remaining error, the loop properties before and after learning are compared. We also show that, in the ?2-norm sense, the remaining error can be less than the initial error under certain conditions. Finally, to show the validity of the proposed method, simulation studies are performed. 相似文献