一种新的基于自适应分数阶的活动轮廓模型

区域可调拟合(region scalable fitting, RSF)活动轮廓模型在分割弱纹理、弱边缘图像时,优化易陷入局部极小导致曲线演化速度缓慢;同时该模型中的局部拟合项为高斯核函数,导致目标的边界模糊,影响分割精度.针对该问题,提出了一种基于自适应分数阶的活动轮廓模型,用于图像的分割.首先将全局G-L(Grünwald-Letnikov)分数阶梯度融合到RSF模型中,以增强灰度不均匀和弱纹理区域的梯度信息,从而提高对曲线初始位置选择的鲁棒性,并提高了图像分割的精度和速度;然后用双边滤波函数替换局部拟合项中的高斯核函数,解决了高斯核函数在演化过程中造成的边界模糊问题;最后根据图像的梯度模值和信息熵构建自适应分数阶阶次的数学模型,并计算出最佳分数阶阶次.理论分析和实验结果均表明:提出的算法可以用于灰度不均匀和弱纹理、弱边缘区域的图像分割,并能根据图像的特征自适应计算最佳分数阶阶次,避免曲线演化陷入局部最优.用多幅图像进行实验,得出该方法的分割精度和分割效率都有较大提高.     

引入分数阶微分的局部高斯分布拟合能量模型

局部高斯分布拟合能量(LGDF)模型缺乏全局信息,对初始轮廓曲线选取较敏感,特别在分割弱边缘和弱纹理区域图像时,容易陷入局部极值,对噪声的鲁棒性不好.针对上述问题,文中提出引入分数阶微分的LGDF模型.在LGDF模型中引入全局的Grümwald-Letnikov(G-L)分数阶梯度拟合项,增强弱边缘和弱纹理区域的梯度信息,提高对初始轮廓曲线和噪声的鲁棒性.采用自适应权重函数确定全局项和局部项的系数,提高对灰度不均匀图像的分割效率和分割精度.根据图像的梯度模值、信息熵和对比度构建自适应分数阶阶次的函数,提高分割效率.理论分析和实验均表明,文中模型可以用于灰度不均匀、弱纹理、弱边缘图像的分割.合成图像和真实图像的实验表明文中模型可以提高图像的分割精度和效率.     

Controller design for delay systems via eigenvalue assignment – on a new result in the distribution of quasi-polynomial roots

This paper considers the eigenvalue distribution of a linear time-invariant (LTI) system with time delays and its application to some controllers design for a delay plant via eigenvalue assignment. First, a new result on the root distribution for a class of quasi-polynomials is developed based on the extension of the Hermite–Biehler theorem. Then, such result is applied to proportional–integral (PI) controller parameter design for a first-order plant with time delay through pole placement. The complete region of PI gains can be obtained so that the rightmost eigenvalues in the infinite eigenspectrum of the closed-loop system with delay plant are assigned to desired positions in the complex plane. Furthermore, on the basis of the previous result, this paper also extended the PI control to the proportional–integral–derivative (PID) control. It is worth pointing out that this work aims to improve the performance of the closed-loop system on the premise of guaranteeing the stability.     

Computation of stabilizing Lag/Lead controller parameters

One of the central problems in control theory relates to the design of controllers for stabilization of systems. The paper deals with the problem of computing all stabilizing values of the parameters of Lag/Lead controllers for linear time-invariant plant stabilization. It is well known that linear controllers of Lag/Lead type are still widely used in many industrial applications. In this paper, an extension of a new approach to feedback stabilization based on the Hermite–Biehler theorem to the Lag/Lead controller structure is given. In addition, the problem of stabilization of uncertain systems defined by an interval plant is studied using the Kharitonov and the Hermite–Biehler theorems. The proposed method is analytical and it can be applied successfully using today’s advanced computer technology. Examples are included to illustrate the method presented.     

Maximum sensitivity based fractional IMC–PID controller design for non-integer order system with time delay

A simple approach with a small number of tuning parameters is a key goal in fractional order controller design. Recently there have been a number of limited attempts to bring about improvements in these areas. In this paper, a new design method for a fractional order PID controller based on internal model control (IMC) is proposed to handle non-integer order systems with time delay. In order to reduce the number of tuning parameters and mitigate the impact of time delay, the fractional order internal model control scheme is used. Considering the robustness of the control system with respect to process variations and model uncertainty, maximum sensitivity is applied to the tuning of the parameters. The resulting controller has the structure of a fractional order PID which is cascaded with a filter. This is named a fractional IMC–PID controller. Numerical results are given to show the efficiency of the proposed controller.     

Existence of solutions for a singular system of nonlinear fractional differential equations

In this paper, we establish the existence of positive solutions for a singular system of nonlinear fractional differential equations. The differential operator is taken in the standard Riemann-Liouville sense. By using Green’s function and its corresponding properties, we transform the derivative systems into equivalent integral systems. The existence is based on a nonlinear alternative of Leray-Schauder type and Krasnoselskii’s fixed point theorem in a cone.     

直线一级倒立摆分数阶控制器设计及仿真

针对直线一级倒立摆的稳定控制问题,设计了分数阶比例积分(FOPI和FO[PI])控制器。首先,根据Newton力学方法建立了倒立摆系统的数学模型。然后,采用基于向量的增益鲁棒性分数阶控制器参数求解简化算法,设计了分数阶比例积分控制器。最后,在MATLAB环境下进行了分数阶比例积分控制器参数整定方法的有效性验证,并且对倒立摆系统分别采用分数阶比例积分控制器和整数阶PID(IOPID)控制器进行了稳定控制仿真实验,并将得到的摆杆角度响应曲线进行了对比分析。结果表明:分数阶比例积分控制器对系统的稳定控制效果优于IOPID控制器,且在分数阶比例积分控制器中,FO[PI]控制器对系统稳定控制最好,响应时间较快、振荡幅值较小且具有鲁棒性。     

Approximate controllability of fractional nonlocal delay semilinear systems in Hilbert spaces

We study the existence and approximate controllability of a class of fractional nonlocal delay semilinear differential systems in a Hilbert space. The results are obtained by using semigroup theory, fractional calculus and Schauder’s fixed point theorem. Multi-delay controls and a fractional nonlocal condition are introduced. Furthermore, we present an appropriate set of sufficient conditions for the considered fractional nonlocal multi-delay control system to be approximately controllable. An example to illustrate the abstract results is given.     

车辆线控转向系统的分数阶鲁棒控制研究

线控转向系统有别于普通车辆的机械转向机构,它是由转向电机、转向机构、转角和力矩传感器以及控制单元构成的复杂转向系统．系统性能受到参数的不确定性、未建模动态以及前轮回正力矩的影响．本文基于分数微积分理论,根据转向系统鲁棒性的设计要求,提出一种新的PI^λD^μ控制策略,保证线控转向系统在所要求的频域范围具有鲁棒性．文中通过优化方法得到PI^λD^μ控制器的五个设计参数,并用Oustaloup算法对分数阶控制器进行仿真验证,结果表明该控制方法对提高转向系统性能的鲁棒性是有效的．     

Local null controllability for a chemotaxis system of parabolic–elliptic type

We consider the controllability of a chemotaxis system of parabolic–elliptic type. By linearizing the nonlinear system into two separate linear equations, we can bypass the obstacle caused by the nonlinear drift term and establish local null controllability of the original nonlinear system. This approach is different from the usual method for dealing with coupled parabolic systems.     

State feedback with fractional integral control design based on the Bode’s ideal transfer function

State feedback technique through a gain matrix has been a well-known method for pole assignment of a linear system. The technique could encounter a difficulty in eliminating the steady-state errors in some states. Introducing an integral element can effectively eliminate these errors. State feedback with fractional integral control is proposed, in this work, for pole placement of a linear time invariant system. The proposed method yields simple gain formulae. The paper presents the derivation of the design formulae. The method is applied to stabilise an inherently unstable inverted pendulum-cart system. Simulation and experimental results show the effectiveness of the proposed method for set-point tracking, disturbance rejection and stabilising the inverted pendulum. Comparison with the results obtained from applying Achermann’s formula is also presented.     

含有分数阶PID控制器的随机动力系统可靠性分析

随着粘弹性材料在工程结构中的广泛应用,刻画工程结构中粘弹性材料遗传特性和长记忆性的分数阶微积分成为研究的热点,特别是具有分数阶微积分特点的PID控制器更是从理论上和应用上受到关注.本文研究高斯白噪声激励下含有分数阶PID控制器的随机结构动力系统的可靠性问题.利用慢变过程的特征以及广义积分的性质,对分数阶PID控制器在数学上进行了近似处理,之后应用能量包络随机平均法确定了可靠性函数满足的后向Kolmogorov方程以及首次穿越时间统计矩满足的广义Pontryagin方程.结果表明：在分数阶控制器中,较小的分数阶α和较大的分数阶β均可以得到较为理想的可靠性结果,并且这些均与蒙特卡洛仿真结果一致,验证了方法的有效性和正确性.     

正交小波包分析方法在分数阶系统特性识别中的应用

基于正交小波包分析思想研究分数阶系统的动力学特性识别,提出了一套新的、能有效识别分数次动力系统复杂动力学行为的程序化方法.首先根据时间序列的平均周期对信号的频带进行分割并获得与各个频带对应的子信号;然后,通过计算子信号能量所占整个采样序列总能量的比重对时间序列的相关特性进行直观识别;最后,采用上述方法对受控的分数次Chen系统进行特征识别的结果与常用的功率谱分析方法所得结果是一致的.这些表明基于正交小波包分析方法能够有效地应用于分数阶系统的动力学特征识别.     

欠驱动基准系统的约束控制

针对一种欠驱动基准系统,具有旋转激励的平移振荡器(translation oscillators with rotating actuator,TORA)系统,本文首次提出了一种具有约束的控制方法.该方法不仅可以保证闭环系统的稳定性,而且能够保证旋转小球在预设的范围内转动.相比已有控制方法,本文所提方法可以预设小球的转动范围以避免不理想的\"循环\"行为.具体而言,首先对系统的总机械能进行了详细分析;随后在其总机械能的基础上通过能量整形构造出一个新颖的能量函数;最后基于所构造的能量函数提出了一种具有约束的控制器,采用Lyapunov方法及La Salle不变性原理证明了相应闭环系统的稳定性.通过与已有方法进行仿真对比可知,本文方法在镇定控制与约束控制方面均表现出良好的控制性能.