Robust Control Using Interval Analysis

The synthesis procedure of a control law that guarantees properties of robust stability with respect to structured parameter perturbations is proposed. The solution of the considered problem is based on the Razumikhin's method for functional differential equations generalized for parameter perturbation systems with time delay. The extension is obtained by using interval Lyapunov functions. The robust control law is represented through a solution of an interval matrix Riccati type equation.     

Robust Autonomous Robot Localization Using Interval Analysis

This paper deals with the determination of the position and orientation of a mobile robot from distance measurements provided by a belt of onboard ultrasonic sensors. The environment is assumed to be two-dimensional, and a map of its landmarks is available to the robot. In this context, classical localization methods have three main limitations. First, each data point provided by a sensor must be associated with a given landmark. This data-association step turns out to be extremely complex and time-consuming, and its results can usually not be guaranteed. The second limitation is that these methods are based on linearization, which makes them inherently local. The third limitation is their lack of robustness to outliers due, e.g., to sensor malfunctions or outdated maps. By contrast, the method proposed here, based on interval analysis, bypasses the data-association step, handles the problem as nonlinear and in a global way and is (extraordinarily) robust to outliers.Luc Jaulin: on leave from Laboratoire d'Ingénierie des Systèmes Automatisés, Université d'Angers, 2 bd Lavoisier, 49045 Angers, FranceLuc Jaulin: on leave from Laboratoire d'Ingénierie des Systèmes Automatisés, Université d'Angers, 2 bd Lavoisier, 49045 Angers, FranceLuc Jaulin: on leave from Laboratoire d'Ingénierie des Systèmes Automatisés, Université d'Angers, 2 bd Lavoisier, 49045 Angers, France     

Design Of Robust Pid Controllers

In this paper, a new method is proposed to design the robust PID controllers for uncertain linear time‐invariant systems. We describe a simple and programming procedure for designing PID controllers by applying Kharitonov's theorem and LMI method. Such a controller enables the resulting control system to achieve robust stability as well as asymptotic tracking.     

单一与非单一鲁棒控制器的设计

针对普通二次Lyapunov函数方法判定T-S模糊系统稳定性存在的保守性和难度,利用T-S系统的模糊前提规则和隶属度函数分别构造分段二次Lyapunov函数和模糊Lyapunov函数,且通过将模糊Lyapunov函数引入到分段二次Lyapunov函数所得到的分段模糊区域中定义了分段模糊Lyapunov函数;研究一类T-S模糊系统的鲁棒控制问题,以线性矩阵不等式的形式给出了单一与非单一鲁棒控制器的参数化设计方法。仿真结果表明,非线性系统在非单一鲁棒控制器作用下能够获得比单一鲁棒控制器更好的控制性能。     

基于观测器的鲁棒H2控制器设计

研究了一类含有参数不确定系统的观测器型鲁棒H2控制器的设计问题.基于状态反馈和观测器设计的可分离性原理,给出了控制器存在的充分条件和系统H2性能指标的一个上界.利用线性矩阵不等式凸优化方法还得到了使该界达到最小的观测增益.     

Wiener滤波问题的一种Diophantine方程解

用时域上的现代时间序列分析方法,基于ARMA新息模型和白噪声估值器,提出Wiener滤波问题的一种Diophantine方程解。它可统一处理平稳或非平稳ARMA信号的最优滤波、平滑和预报问题。仿真例子说明了其有效性。     

电力系统鲁棒励磁控制器设计

本文给出了一种设计电力系统鲁棒励磁控制器的方法。设计原理是基于关于仿射非线性系统的Ｈ∞控制理论。控制器由两部分组成：一部分是线性最优励磁控制器，另一部分是额外补偿部分。仿真结果表明，电力系统的暂态特性在利用Ｈ∞控制之后得到明显改善。     

CME分析中的丢番图方程求解

1.引言循环的Cache不命中率分析是编译优化中的关键技术之一。CME(Cache Miss Equation)是美国Princeton大学的S.Ghosh博士提出的循环Cache不命中率分析的计算模型,它以循环中数组引用的重用向量分析为基础,根据Cache数据映射的规则用约束条件下丢番图方程对数组引用在不同重用向量上的Cache冲突情况进行精确的描述(一般为线性约束条件),明确了方程整数解的数目与Cache不命中次数之间的关系,为较为精确地分析循环的Cache不命中率奠定了基础。我们把通过CME来分析Cache不命中率的过     

Design of Robust Output Controllers via Frequency Conditions

Frequency conditions determining the parameters of dynamic output controllers for different classes of uncertain systems, such as nonlinear Lur'e systems, systems with parameters switched by an unknown law, and systems with unknown bounded parameters, are formulated.     

线性不确定系统的鲁棒稳定控制器设计

对于满足匹配条件的线性不确定系统,本文根据Lyapunov稳定性原理给出一种鲁棒稳定控制器的设计方法,这种方法可以设计鲁棒稳定控制器对于标称系统是最优的.本文还将这种方法推广到不满足匹配条件的线性不确定系统,并给出数值例子说明了这种方法的有效性.     

参数摄动机械臂鲁棒控制器的演化设

对于存在参数区间摄动的机械臂，提出了一种利用遗传算法进行鲁棒控制器演化设计的方法．将具有给定结构的控制器的参数编码后作为控制器种群，将机械臂的摄动参数编码后作为受控对象种群；对两个种群进行双向演化操作，得到对区间摄动系统具有足够鲁棒性的控制器和最差控制性能所对应的受控对象模型．对存在参数摄动的二自由度机械臂进行鲁棒控制器设计的结果表明，所提出的方法是有效的．     

时变不确定性线性系统的鲁棒跟踪控制器设计

研究含时变不确定性线性系统的鲁棒跟踪问题,通过选取矩阵N构造广义匹配条件,对于满足和不满足广义匹配条件的不确定系统,分别得到了实际跟踪结果和ε跟踪结果.最后给出的设计实例表明了本设计方法的有效性.     

用VHDL设计十六路彩灯控制器

VHDL设计技术是引起数字系统设计方式发生突破性变革的技术。本文论述了使用VHDL设计十六路彩灯控制器的过程。VHDL为设计提供了更大的灵活性,使程序具有更高的通用性。     

一类不确定线性系统的鲁棒线性控制器设计

针对一类不确定性不满足匹配条件的线性系统,利用Lyapunov方程和不确定项的范数界,分别设计了具有可调参数和鲁棒线性状态和输出控制器。这些可调参数可以依据不确定项的范数界的大小来选取,具有一定的灵活性。     

Design of Robust Linear Controllers under Parametric Uncertainty of the Object Model

Consideration was given to the design of continuous and discrete robust controllers for multidimensional systems with parametric uncertainty. Algorithms to calculate the weight matrices at the coordinates of the output vector and at the equivalent external perturbations in the dynamic model of the object for which the controllers that are optimal in the quadratic or H criterion guarantee stability of the closed-loop system within the given domain of parametric uncertainty were proposed, and examples were presented.     

离散区间系统的鲁棒稳定性分析

本文主要研究了离散区间系统的稳定性问题,以线性矩阵不等式的形式给出了离散区间系统鲁棒稳定性的充分条件,最后通过仿真验证了该方法是行之有效的。     

线性系统极点配置控制器的鲁棒稳定性分析

本文利用所建立的线性系统鲁棒稳定性的分析结果分析了离散和连续的极点配置控制系统关于时变参数摄动在输入输出有界意义下的鲁棒稳定性。指出该控制系统对于参数摄动总具有一定的鲁棒性,并给出了保持系统输入输出有界情况下参数摄动应满足的限度。     

Nonconvex Polygon Interval Arithmetic as a Tool for the Analysis and Design of Robust Control Systems

This paper describes Nonconvex Polygon Interval Arithmetic (NPIA) and its implementation. NPIA is the arithmetic defined on the set of all polygons in the complex plane, and it is very useful to compute estimates of value sets of transfer functions including uncertain physical parameters in a reasonable computing time. If the transfer function can be written in such a way that each uncertain parameter appears at most once, then the estimate obtained is included in an neighborhood of the region enclosed by the outer boundary of the value set.     

An Iterative Method of the Structural-Parametric Design of Robust Systems with State Controllers

An iterative method for designing a robust control system with state controllers is proposed that includes a transformation of the plant structure to improve its controllability by correcting the singular values of the controllability Gramian and the subsequent synthesis of the basic controller for the corrected plant using modal control. This approach allows us to design systems satisfying the robust stability condition for the given intervals of variation of the plant parameters.