Mixed control of hidden Markov jump systems

In this work, we study the mixed control for Markov jump linear systems with hidden Markov parameters. The hidden Markov process is denoted by , where the nonobservable component θ(k) represents the mode of operation of the system, whereas represents the observable component provided by a detector. The goal is to obtain design techniques for mixed control problems, with the controllers depending only on the estimate , for problems formulated in 3 different forms: (i) minimizing an upper bound on the norm subject to a given restriction on the norm; (ii) minimizing an upper bound on the norm, while limiting the norm; and (iii) minimizing a weighted combination of upper bounds of both the and norms. We propose also new conditions for synthesizing robust controllers under parametric uncertainty in the detector probabilities and in the transition probabilities. The so‐called cluster case for the mixed control problem is also analyzed under the detector approach. The results are illustrated by means of 2 numerical examples.     

Dynamic output‐feedback control for continuous‐time singular Markovian jump systems

This paper considers a dynamic output‐feedback control for continuous‐time singular Markovian jump systems, whereas the existing research studies in literature focused on state‐feedback or static output‐feedback control. While they have only provided the sufficient conditions, this paper successfully obtains the necessary and sufficient condition for the existence of the dynamic output‐feedback control. Furthermore, this condition is expressed with linear matrix inequalities by the so‐called replacement technique. Two numerical examples show the validity of the resulting control.     

A new approach to constrained state estimation for discrete‐time linear systems with unknown inputs

This paper addresses the problem of estimating the state for a class of uncertain discrete‐time linear systems with constraints by using an optimization‐based approach. The proposed scheme uses the moving horizon estimation philosophy together with the game theoretical approach to the filtering to obtain a robust filter with constraint handling. The used approach is constructive since the proposed moving horizon estimator (MHE) results from an approximation of a type of full information estimator for uncertain discrete‐time linear systems, named in short ‐MHE and –full information estimator, respectively. Sufficient conditions for the stability of the ‐MHE are discussed for a class of uncertain discrete‐time linear systems with constraints. Finally, since the ‐MHE needs the solution of a complex minimax optimization problem at each sampling time, we propose an approximation to relax the optimization problem and hence to obtain a feasible numerical solution of the proposed filter. Simulation results show the effectiveness of the robust filter proposed.     

Dissipativity‐based asynchronous control of discrete‐time Markov jump systems with mixed time delays

This paper addresses the problem of dissipativity‐based asynchronous control for a class of discrete‐time Markov jump systems. A unified framework to design a controller for discrete‐time Markov jump systems with mixed time delays is proposed, which is fairly general and can be reduced to a synchronous controller or a mode‐independent controller. Based on a stochastic Lyapunov function approach, which fully utilizes available information of the system mode and the controller, a sufficient condition is established to ensure the stochastic stability and strictly ( , , ) dissipative performance of the resulting closed‐loop system. Finally, the effectiveness and validity of the proposed method are illustrated with a simulation example.     

Design and analysis of wideband U‐slot patch antenna with U‐shaped parasitic elements

A single layer single probe‐fed wideband microstrip antenna is presented and investigated. By cutting a U‐slot in the rectangular patch, and by incorporating two identical U‐shaped parasitic patches around both the radiating edges and the nonradiating edges of the rectangular patch, three resonant frequencies are excited to form the wideband performance. Details of the antenna design is presented. The measured and simulated results are in good agreement, the measured impedance bandwidth is GHz ( GHz), or centered at GHz, which covers WLAN GHz ( GHz), WLAN GHz ( GHz), and WIMAX GHz ( GHz) bands. The measured peak gains at the three resonant frequencies are dB, dB, and dB, respectively. An equivalent circuit model which is based on the transmission line theory, the asymmetric coupled microstrip lines theory, and the π‐network theory is established. This equivalent circuit model is used to give an insight into the wideband mechanism of the proposed antenna, and is also used to explain why the three resonant frequencies shift at the variations of different parameters from a physical point of view. The error analysis is given to demonstrate the validity of the equivalent circuit model.     

Another view on q‐rung orthopair fuzzy sets

In this paper, two new approaches have been presented to view q‐rung orthopair fuzzy sets. In the first approach, these can viewed as L‐fuzzy sets, whereas the second approach is based on the notion of orbits. Uncertainty index is the quantity , which remains constant for all points in an orbit. Certain operators can be defined in q‐ROF sets, which affect when applied to some q‐ROF sets. Operators , , and have been defined. It is studied that how these operators affect when applied to some q‐ROF set A.     

Thin‐slot formalism for the split‐field FDTD analysis of periodic structure

An expression of the thin‐slot formalism is presented to alleviate the gridding of the split‐field finite‐difference time‐domain (FDTD) solution for periodic structure. The varying auxiliary‐field ( , ) and split‐field ( , ) distributions near the slots are analytically derived from the varying field ( , ). The update equations for the split‐field FDTD are obtained by incorporating those varying field distributions into the split‐field equations in integral form. A frequency selective surface (FSS) structure is applied to verify the proposed method. The results indicate that the computational efficiency is improved.     

Computational and structural analysis of the contour of graphs

Let be a finite, simple, and connected graph. The closed interval of a set is the set of all vertices lying on a shortest path between any pair of vertices of S. The set S is geodetic if . The eccentricity of a vertex v is the number of edges in the greatest shortest path between v and any vertex w of G. A vertex v is a contour vertex if no neighbor of v has eccentricity greater than v. The contour of G is the set formed by the contour vertices of G. We consider two problems: the problem of determining whether the contour of a graph class is geodetic; the problem of determining if there exists a graph such that is not geodetic. We obtain a sufficient condition that is useful for both problems; we prove a realization theorem related to problem and show two infinite families such that is not geodetic. Using computational tools, we establish the minimum graphs for which is not geodetic; and show that all graphs with , and all bipartite graphs with , are such that is geodetic.     

Graphical tuning method of FOPID controllers for fractional order uncertain system achieving robust ‐stability

This paper focuses on the graphical tuning method of fractional order proportional integral derivative (FOPID) controllers for fractional order uncertain system achieving robust ‐stability. Firstly, general result is presented to check the robust ‐stability of the linear fractional order interval polynomial. Then some alternative algorithms and results are proposed to reduce the computational effort of the general result. Secondly, a general graphical tuning method together with some computational efficient algorithms are proposed to determine the complete set of FOPID controllers that provides ‐stability for interval fractional order plant. These methods will combine the results for fractional order parametric robust control with the method of FOPID ‐stabilization for a fixed plant. At last, two important extensions will be given to the proposed graphical tuning methods: determine the ‐stabilizing region for fractional order systems with two kinds of more general and complex uncertainty structures: multi‐linear interval uncertainty and mixed‐type uncertainties. Numerical examples are followed to illustrate the effectiveness of the method. Copyright © 2015 John Wiley & Sons, Ltd.     

Computation of lower bounds for the induced norm of LPV systems

Determining the induced norm of a linear parameter‐varying (LPV) system is an integral part of many analysis and robust control design procedures. Most prior work has focused on efficiently computing upper bounds for the induced norm. The conditions for upper bounds are typically based on scaled small‐gain theorems with dynamic multipliers or dissipation inequalities with parameter‐dependent Lyapunov functions. This paper presents a complementary algorithm to compute lower bounds for the induced norm. The proposed approach computes a lower bound on the gain by restricting the parameter trajectory to be a periodic signal. This restriction enables the use of recent results for exact calculation of the norm for a periodic linear time varying system. The proposed lower bound algorithm also returns a worst‐case parameter trajectory for the LPV system that can be further analyzed to provide insight into the system performance. Copyright © 2015 John Wiley & Sons, Ltd.     

Reliable exponential filtering for singular Markovian jump systems with time‐varying delays and sensor failures

This paper deals with the problem of exponential filtering for singular Markovian jump systems with time‐varying delays subject to sensor failures. The main objective is to design a reliable filtering such that the considered filtering error system in the presence of a time‐varying delay and sensor failures is mean‐square exponentially admissible with a specified decay rate and simultaneously satisfies an performance. First, the delay interval is partitioned into m subintervals and a novel mode‐dependent stochastic Lyapunov‐Krasovskii functional is constructed. By using the reciprocally convex inequality in each subinterval, sufficient conditions of exponential performance analysis are developed for the considered filtering error system. Then, based on these conditions, the existence conditions of the desired reliable filter are derived and the filter parameters are obtained. It should be mentioned that all the results presented here are not only dependent on the time delay but also dependent on the decay rate and the partitioning size. Furthermore, all the conditions are established in terms of strict linear matrix inequalities. Finally, two numerical examples are given to illustrate the less conservatism and effectiveness of the proposed methods.     

and control design for polytopic continuous‐time Markov jump linear systems with uncertain transition rates

This paper investigates the problems of and state feedback control design for continuous‐time Markov jump linear systems. The matrices of each operation mode are supposed to be uncertain, belonging to a polytope, and the transition rate matrix is considered partly known. By appropriately modeling all the uncertain parameters in terms of a multi‐simplex domain, new design conditions are proposed, whose main advantage with respect to the existing ones is to allow the use of polynomially parameter‐dependent Lyapunov matrices to certify the mean square closed‐loop stability. Synthesis conditions are derived in terms of matrix inequalities with a scalar parameter. The conditions, which become LMIs for fixed values of the scalar, can cope with and state feedback control in both mode‐independent and mode‐dependent cases. Using polynomial Lyapunov matrices of larger degrees and performing a search for the scalar parameter, less conservative results in terms of guaranteed costs can be obtained through LMI relaxations. Numerical examples illustrate the advantages of the proposed conditions when compared with other techniques from the literature. Copyright © 2015 John Wiley & Sons, Ltd.     

Decentralized consensus protocol for a class of high‐order multiagent systems

This paper proposes a consensus protocol for a class of high‐order multiagent systems under directed networks. It is supposed that each agent is exposed to an external disturbance additive to its control input. Based on the optimization theory, the consensus protocol gains are designed in order to attenuate the effects of the external disturbances on the performance of the multiagent system. The main problem of existing high‐order consensus protocols in the literature is the dependency of the design on the information of coupling matrices associated with networks topologies. Despite existing high‐order consensus protocols in the literature, the proposed consensus protocol can be designed in a fully decentralized manner based on no global information. The main idea of the design is to propose an control formulation in which the coupling information of the agents is considered as exogenous signals, while the coupling effects of these signals lead to achieving consensus in the multiagent system. Numerical examples verify the effectiveness of the proposed consensus protocol. Copyright © 2016 John Wiley & Sons, Ltd.     

Prize‐collecting set multicovering with submodular pricing

We consider a ground set E and a submodular function acting on it. We first propose a “set multicovering” problem in which the value (price) of any is . We show that the linear program (LP) of this problem can be directly solved by applying a submodular function minimization (SFM) algorithm on the dual LP. However, the main results of this study concern prize‐collecting multicovering with submodular pricing, that is, a more general and more difficult “multicovering” problem in which elements can be left uncovered by paying a penalty. We formulate it as a large‐scale LP (with variables representing all subsets of E) that could be tackled by column generation (CG; for a CG algorithm for “set‐covering” problems with submodular pricing). However, we do not solve this large‐scale LP by CG, but we solve it in polynomial time by exploiting its integrality properties. More exactly, after appropriate restructuring, the dual LP can be transformed into an LP that has been thoroughly studied (as a primal) in the SFM theory. Solving this LP reduces to optimizing a strong map of submodular functions. For this, we use the Fleischer–Iwata framework that optimizes all these functions within the same asymptotic running time as solving a single SFM, that is, in , where and γ is the complexity of one submodular evaluation. Besides solving the problem, the proposed approach can be useful to (a) simultaneously find the best solution of up to functions under strong map relations in time, (b) perform sensitivity analysis in very short time (even at no extra cost), and (c) reveal combinatorial insight into the primal–dual optimal solutions. We present several potential applications throughout the paper, from production planning to combinatorial auctions.     

Laplace–Beltrami Operator on Point Clouds Based on Anisotropic Voronoi Diagram

The symmetrizable and converged Laplace–Beltrami operator () is an indispensable tool for spectral geometrical analysis of point clouds. The , introduced by Liu et al. [LPG12] is guaranteed to be symmetrizable, but its convergence degrades when it is applied to models with sharp features. In this paper, we propose a novel , which is not only symmetrizable but also can handle the point‐sampled surface containing significant sharp features. By constructing the anisotropic Voronoi diagram in the local tangential space, the can be well constructed for any given point. To compute the area of anisotropic Voronoi cell, we introduce an efficient approximation by projecting the cell to the local tangent plane and have proved its convergence. We present numerical experiments that clearly demonstrate the robustness and efficiency of the proposed for point clouds that may contain noise, outliers, and non‐uniformities in thickness and spacing. Moreover, we can show that its spectrum is more accurate than the ones from existing for scan points or surfaces with sharp features.     

Robust non‐fragile control for delayed singular Markovian jump systems with actuator saturation and partially unknown transition probabilities

The paper is devoted to the investigation of the problem of robust non‐fragile control for singular Markovian jump systems with time‐varying delay and saturating actuators under partially unknown transition probabilities. By employing a Lyapunow function, a mode‐dependent robust non‐fragile state feedback controller, as well as an estimate of the domain of attraction in the mean square sense, is derived to guarantee stochastic admissibility of the corresponding closed‐loop system with actuator saturation. The controller parameters can be obtained by solving a series of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed method. Copyright © 2016 John Wiley & Sons, Ltd.     

Reliable mixed passive and filtering for semi‐Markov jump systems with randomly occurring uncertainties and sensor failures

This paper investigates the reliable mixed passive and filtering problem for uncertain semi‐Markov jump delayed systems subject to sensor failures. The parameter uncertainties are randomly occurring with two stochastic variables, which are mutually independent and satisfy certain probabilistic distributions on the interval [0,1]. The objective is to focus on the design of a reliable filter ensuring the mixed passivity and performance level of the resulting filtering error system in the presence of sensor failures. By using an improved reciprocally convex approach combined with a novel integral inequality, sufficient conditions of mixed passivity and performance analysis for the considered systems are derived. Based on these, a desired reliable filter design method is developed, and the parameters of the filter are readily calculated by employing a simple expression of the desired filter. Three numerical examples are presented to demonstrate the effectiveness and the reduced conservatism of the proposed method. Copyright © 2014 John Wiley & Sons, Ltd.     

Input‐output triggered control using ‐stability over finite horizons

This paper investigates stability of nonlinear control systems under intermittent information. Following recent results in the literature, we replace the traditional periodic paradigm, where the up‐to‐date information is transmitted and control laws are executed in a periodic fashion, with the event‐triggered paradigm. Building on the small gain theorem, we develop input–output triggered control algorithms yielding stable closed‐loop systems. In other words, based on the currently available (but outdated) measurements of the outputs and external inputs of a plant, a mechanism triggering when to obtain new measurements and update the control inputs is provided. Depending on the noise in the environment, the developed algorithm yields stable, asymptotically stable, and ‐stable (with bias) closed‐loop systems. Control loops are modeled as interconnections of hybrid systems for which novel results on ‐stability are presented. The prediction of a triggering event is achieved by employing ‐gains over a finite horizon. By resorting to convex programming, a method to compute ‐gains over a finite horizon is devised. Finally, our approach is successfully applied to a trajectory tracking problem for unicycles. Copyright © 2014 John Wiley & Sons, Ltd.     

H∞ model predictive control for constrained discrete‐time piecewise affine systems

This paper investigates stability analysis for piecewise affine (PWA) systems and specifically contributes a new robust model predictive control strategy for PWA systems in the presence of constraints on the states and inputs and with l₂ or norm‐bounded disturbances. The proposed controller is based on piecewise quadratic Lyapunov functions. The problem of minimization of the cost function for model predictive control design is changed to minimization of the worst case of the cost function. Then, this objective is reduced to minimization of a supremum of the cost function subject to a terminal inequality by considering the induced l₂‐norm. Finally, the predictive controller design problem is turned into a linear matrix inequality feasibility exercise with constraints on the input signal and state variables. It is shown that the closed‐loop system is asymptotically stable with guaranteed robust performance. The validity of the proposed method is verified through 3 well‐known examples of PWA systems. Simulation results are provided to show good convergence properties along with capability of the proposed controller to reject disturbances.     

Parameterized LMIs for robust and state feedback control of continuous‐time polytopic systems

This paper presents new extended linear matrix inequality (LMI) characterizations for the synthesis of robust and state feedback controllers for continuous‐time linear time‐invariant systems with polytopic uncertainty. Based on a suitable change of variables and the Elimination Lemma, the proposed robust control design techniques are stated as extended LMI conditions parameterized in terms of 2 scalar parameters. One parameter is shown to belong to a bounded domain, thus limiting the scalar search domain. For the other parameter, a bounded subset is provided from numerical experiments. The benefits of the methodology are illustrated through numerical simulations performed on an uncertain model borrowed from the literature. It is shown that the proposed LMI relaxations can provide less conservative results with fewer scalar searches than some existing methods in the literature.