基于调制函数法的线性连续动力学系统参数模型估计

提出了构造单分辨和多分辨高斯调制函数的新思路。基于数字积分原理,推导了调制积分滤波器的结构,得到直接以线性连续系统模型参数表示的等价辨识模型。利用离散模型辨识的研究成果,建立了连续动力学系统模型参数直接估计的最小二乘法和辅助变量法。研究了调制滤波器参数与辨识精度的关系,并以此得到调制函数参数的设计依据。成功辨识了某轧机液压AGC压力闭环系统的连续动力学参数模型,验证了方法的正确性。     

Finite-time decentralized adaptive neural constrained control for interconnected nonlinear time-delay systems with dynamics couplings among subsystems

The problem of finite-time decentralized neural adaptive constrained control is studied for large-scale nonlinear time-delay systems in the non-affine form. The main features of the considered system are that 1) unknown unmatched time-delay interactions are considered, 2) the couplings among the nested subsystems are involved in uncertain nonlinear systems, 3) based on finite-time stability approach, asymmetric saturation actuators and output constraints are studied in large-scale systems. First, the smooth asymmetric saturation nonlinearity and barrier Lyapunov functions are used to achieve the input and output constraints. Second, the appropriately designed Lyapunov-Krasovskii functional and the property of hyperbolic tangent functions are used to deal with the unknown unmatched time-delay interactions, and the neural networks are employed to approximate the unknown nonlinearities. Note that, due to unknown time-delay interactions and the couplings among subsystems, the controller design is more meaningful and challenging. At last, based on finite-time stability theory and Lyapunov stability theory, a decentralized adaptive controller is proposed, which decreases the number of learning parameters. It is shown that the designed controller can ensure that all closed-loop signals are bounded and the tracking error converges to a small neighborhood of the origin. The simulation studies are presented to show the effectiveness of the proposed method.     

Global finite-time adaptive control for uncalibrated robot manipulator based on visual servoing

The paper addresses the finite-time convergence problem of a uncalibrated camera-robot system with uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FTS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FTS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model. The finite-time stability analysis is discussed in accordance with homogeneous theory and Lyapunov function formalism. The control method we proposed extends the asymptotic stability results of visual servoing control to a finite-time stability. Simulation has been conducted to demonstrate the performance of the trajectory tracking errors convergence under control of the proposed method.     

Adaptive-gain fast super-twisting sliding mode fault tolerant control for a reusable launch vehicle in reentry phase

In this paper, a novel adaptive-gain fast super-twisting (AGFST) sliding mode attitude control synthesis is carried out for a reusable launch vehicle subject to actuator faults and unknown disturbances. According to the fast nonsingular terminal sliding mode surface (FNTSMS) and adaptive-gain fast super-twisting algorithm, an adaptive fault tolerant control law for the attitude stabilization is derived to protect against the actuator faults and unknown uncertainties. Firstly, a second-order nonlinear control-oriented model for the RLV is established by feedback linearization method. And on the basis a fast nonsingular terminal sliding mode (FNTSM) manifold is designed, which provides fast finite-time global convergence and avoids singularity problem as well as chattering phenomenon. Based on the merits of the standard super-twisting (ST) algorithm and fast reaching law with adaption, a novel adaptive-gain fast super-twisting (AGFST) algorithm is proposed for the finite-time fault tolerant attitude control problem of the RLV without any knowledge of the bounds of uncertainties and actuator faults. The important feature of the AGFST algorithm includes non-overestimating the values of the control gains and faster convergence speed than the standard ST algorithm. A formal proof of the finite-time stability of the closed-loop system is derived using the Lyapunov function technique. An estimation of the convergence time and accurate expression of convergence region are also provided. Finally, simulations are presented to illustrate the effectiveness and superiority of the proposed control scheme.     

Fitting of experimental data using a fractional Kalman-like observer

In this paper, a fractional order Kalman filter (FOKF) is presented, this is based on a system expressed by fractional differential equations according to the Riemann–Liouville definition. In order to get the best fitting of the FOKF, the cuckoo search optimization algorithm (CS) was used. The purpose of using the CS algorithm is to optimize the order of the observer, the fractional Riccati equation and the FOKF tuning parameters. The Grünwald–Letnikov approximation was used to compute the numerical solution of the FOKF. To show the effectiveness of the proposed FOKF, four examples are presented, the brain activity, the cutaneous potential recordings of a pregnant woman, the earthquake acceleration, and the Chua’s circuit response.     

Chaos synchronization of gyroscopes using an adaptive robust finite-time controller

The problem of robust finite-time chaos synchronization between two chaotic nonlinear gyroscopes with model uncertainties, external disturbances and unknown parameters is investigated. Appropriate adaptive laws are derived to tackle the unknown parameters. Based on the adaptive laws and the finite-time control technique, suitable adaptive control laws are designed to ensure the stability of the resulting synchronization error system in a given finite time. Numerical simulations and comparative examples are presented to illustrate the applicability and usefulness of the proposed finite-time control strategy.     

Modified mathematic model of a parallel two-dimensional piston flowmeter

The parallel two-dimensional piston (2D piston) flowmeter is a novel kind of positive displacement flowmeter that has been recently invented and proposed by our research group. Following an overview of the working principle of this flowmeter, a modified mathematic model was carefully established in this paper based on the analysis of the shortcomings of the presented primary model. The churning loss, as the first of two ignored parts in the previous research, is caused by the rollers rotation in oil, and it is considered a part of the torque balance equation in the pressure loss model. Besides, the flow rate of the transient leakage, which comes from the change in the leakage flow rate equation when the 2D piston rotates at a specific angle, was analytically modeled and added to the flow rate distribution equation. By comparing the experimental results from the last study, the modified mathematical model showed to be precise and became more suitable for predicting the flowmeter's performance and enhancing its measuring accuracy.     

Finite-time sliding mode controller for perturbed second-order systems

This paper presents a novel finite-time sliding mode controller applied to perturbed second order systems. The proposed scheme employs a disturbance observer that can identify growing in time disturbances. Then, the observer is combined with a sliding mode controller to achieve finite-time stabilization of the second-order system. The convergence of the observer as well as the finite-time stability of the closed-loop system is theoretically demonstrated. Besides, it is also shown that the finite-time convergence properties of a given controller can be enhanced when using a compensation term based on the disturbance observer. The proposed controller is compared with a twisting algorithm and a finite-time sliding mode controller with disturbance estimation. Also, a conventional proportional integral derivative (PID) controller is combined with the proposed disturbance observer in a trajectory tracking task. Numerical simulations indicate that the proposed controller attains finite-time stabilization of the second order system by requiring a less amount of power than that demanded by the other control schemes and without being affected by the peaking phenomenon. Besides, the performance of the PID technique is enhanced by applying the proposed control methodology.     

Finite-time state-dependent Riccati equation for time-varying nonaffine systems: Rigid and flexible joint manipulator control

This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement.     

Robust Extreme Learning Machine for estimation of triangular,rectangular, and parabolic weirs

In this paper, for the first time, the DC of triangular, rectangular, and parabolic weirs is simulated by a new learning machine called “Robust Extreme Learning Machine” (RELM). The used laboratory data are divided into two categories: training (70% data) and testing (30% data). In the next step, the number of neurons inside the hidden layer is examined. For the structure of the proposed RELM algorithm, 10 hidden layer neurons are embedded. For the learning machine used in the present study, six different activation functions are evaluated that the Sigmoid activation function has better performance and is used for the RELM structure. Next, the calibration parameter of the RELM algorithm is discussed. The optimal regularization parameter is selected for the present study equal to 0.0001. Then, using parameters affecting the DC, four RELM models are developed. By performing various analyzes, the superior RELM model and the most effective input parameters are identified. Also, comparing the performance of the RELM model with ELM shows the superiority of the RELM algorithm. For the superior model, a relative derivative sensitivity analysis is performed to investigate the behaviour of the input parameters on the DC. Finally, an equation for estimating the DCs of triangular, rectangular, and parabolic weirs is proposed.     

System identification with measurement noise compensation based on polynomial modulating function for fractional-order systems with a known time-delay

This study presents a system identification method based on polynomial modulating function for fractional-order systems with a known time-delay involving input and output noises in the time domain. Based on the polynomial modulating function and fractional-order integration by parts, the identified fractional-order differential equation is transformed into an algebraic equation. By using the numerical integral formula, the least squares form for the system identification is obtained. In order to reduce the effect of noises existing in the input and output measurements, the compensation method for the input and output noises is also studied by introducing an auxiliary high-order fractional-order system in the revised identification algorithm. Finally, the effectiveness of the proposed algorithm is verified by the simulation result of an illustrative example and the experimental result of temperature identification for a thermal system.     

Damage identification in composite plates using two-dimensional B-spline wavelets

In this paper the construction of general order two-dimensional B-spline wavelets was presented and applied for damage identification in polymeric composite plates. At the very beginning the algorithm of one- and two-dimensional discrete wavelet transform and formulation of one- and two-dimensional B-spline wavelets with examples were presented. The fully clamped square layered composite plate was modeled using finite element-based software. Estimated natural modes of vibration with various damage configurations were analyzed using the two-dimensional sixth-order B-spline wavelet, and the method of damage identification was presented. The effective damage identification is based on the evaluation of the singularities in horizontal, vertical and diagonal details coefficients. Results obtained based on the numerical data were verified experimentally. Research results show the effectiveness of B-spline wavelets in application to the diagnostics and structural health monitoring.     

谐振管内非线性驻波的二维有限差分计算方法

谐振管内非线性驻波的数值计算方法是目前强声密封研究的关键技术。基于三个气体动力学方程推导得出一个关于无旋可压缩牛顿流体的非线性波动方程,并通过对非线性波动方程进行有限差分离散化处理,提出求解谐振管内非线性驻波的二维有限差分计算方法。通过边界条件的处理,使所推导的二维有限差分计算方法能够在整体谐振激励作用下计算谐振管内非线性驻波。在圆柱形谐振管内部填充Refrigerant-12作为工作媒质以及整体谐振激励的条件下,利用所提出的二维有限差分计算方法对圆柱形谐振管内的非线性驻波进行求解,并得到圆柱形谐振管内绝对压力波形、声压频谱响应以及谐振管内的声压空间分布。通过与现有仿真方法的计算结果和现有试验结果进行对比,所得到的计算结果无论从波形还是数值上都能与这些结果吻合,从而验证了该方法的可行性。该方法为强声密封的非线性驻波计算研究奠定了良好基础。     

结合激光准直的二维转角动态测量系统

为了克服现有二维转角动态测量方法结构复杂、成本昂贵的缺点,提出了结合激光准直的二维转角动态测量方法。首先,根据二维转角测量的关键问题提出基于激光准直的测量方法,采用准直激光作为测量基准,以远端的位置探测器作为检测器件。接着,设计测量系统和各组成模块,根据测量要求对系统中的关键模块进行设计和优化。然后,具体设计系统中的测量算法,完成测量模型建立。最后,在±2°范围内进行实验测试和分析。实验结果表明:系统可动态测量,稳定性好,测量重复性误差为1μrad,X轴非线性误差为1.8%,Y轴非线性误差为1.7%,动态带载响应频率在±0.01°内优于200Hz,基本满足二维转角测量的高精度、高重复性、高稳定性的要求。     

基于参数方程的小波基自适应选择

研究了小波基的参数表达问题,得到包含不同参数的小波基的两个参数方程,提出通过对参数方程中参数的搜索来实现信号的自适应小波基分解。从不同应用角度定义了评价小波基分解效果的两个适应度函数,针对适应度与参数的非线性关系,提出了一种改进的遗传算法对小波基参数方程中的参数进行搜索,同时利用适应度函数对搜索到的小波的分析效果进行评价,当适应度达到最大值时就可得到最佳小波基。利用这一算法实现了一个铣削力信号的自适应小波基分解,并与Daubechies小波的分解结果进行了对比,结果表明自适应小波基能够更充分地分离出信号中的有用信息。     

Robust finite-time chaos synchronization of uncertain permanent magnet synchronous motors

In this paper, a robust finite-time chaos synchronization scheme is proposed for two uncertain third-order permanent magnet synchronous motors (PMSMs). The whole synchronization error system is divided into two cascaded subsystems: a first-order subsystem and a second-order subsystem. For the first subsystem, we design a finite-time controller based on the finite-time Lyapunov stability theory. Then, according to the backstepping idea and the adding a power integrator technique, a second finite-time controller is constructed recursively for the second subsystem. No exogenous forces are required in the controllers design but only the direct-axis (d-axis) and the quadrature-axis (q-axis) stator voltages are used as manipulated variables. Comparative simulations are provided to show the effectiveness and superior performance of the proposed method.     

基于改进自适应局部迭代滤波的谐波检测方法研究

针对大量非线性负荷及电力电子设备广泛应用导致的电力系统谐波成份非平稳性和复杂性日益突出,难以识别和检测的问题,在引入自适应局部迭代滤波算法的基础上,提出了基于改进自适应迭代滤波与希尔伯特变换的谐波检测方法。改进自适应迭代滤波算法利用Fokker-Planck方程构建滤波函数,经滤波筛选获取具有平稳特征的本征模态分量,具有坚实的数学基础,且能够有效地避免经验模态分解算法存在的模态混叠问题。首先利用改进自适应迭代滤波算法分解得到周期分量,对各分量进行Hilbert变换,提取包括频率、幅值、相位在内的谐波特征参数。测试信号及实测数据分析结果证明了所用方法的有效性,与经验模态分解的对比结果充分验证了本方法在电力系统谐波检测中的强适应性。     

反射型衍射CT中的迭代法图像重构

基于衍射的计算机层析成像术是建立在Fourier衍射投影定理基础上的.衍射CT图象重构可看作由非均匀频率样点重建信号的问题.提出一种用于反射型衍射CT的图像重构算法,此方法利用反向散射数据进行2D非均匀Fourier反变换.由于直接的非均匀Fourier反变换不易实现,所以采用基于min-max优化准则的非均匀快速Fourier正变换,通过迭代实现非均匀Fourier逆变换的快速有效计算.为了减少迭代次数加快收敛速度,首先用频域插值法得到重构图像的初值,然后根据min-max准则,每经过一次迭代得到重构图像的一个更新版本,重复多次迭代直至得到可接受的重构结果.给出了数值实验结果.与传统重构算法如Gridding方法相比,该算法计算复杂度相当而重构精度较高.     

Finite-time master–slave synchronization and parameter identification for uncertain Lurie systems

This paper investigates the finite-time master–slave synchronization and parameter identification problem for uncertain Lurie systems based on the finite-time stability theory and the adaptive control method. The finite-time master–slave synchronization means that the state of a slave system follows with that of a master system in finite time, which is more reasonable than the asymptotical synchronization in applications. The uncertainties include the unknown parameters and noise disturbances. An adaptive controller and update laws which ensures the synchronization and parameter identification to be realized in finite time are constructed. Finally, two numerical examples are given to show the effectiveness of the proposed method.     

A genuine nonlinear approach for controller design of a boiler-turbine system

This paper proposes a genuine nonlinear approach for controller design of a drum-type boiler-turbine system. Based on a second order nonlinear model, a finite-time convergent controller is first designed to drive the states to their setpoints in a finite time. In the case when the state variables are unmeasurable, the system will be regulated using a constant controller or an output feedback controller. An adaptive controller is also designed to stabilize the system since the model parameters may vary under different operating points. The novelty of the proposed controller design approach lies in fully utilizing the system nonlinearities instead of linearizing or canceling them. In addition, the newly developed techniques for finite-time convergent controller are used to guarantee fast convergence of the system. Simulations are conducted under different cases and the results are presented to illustrate the performance of the proposed controllers.