Iterative learning control for hyperbolic distributed parameter systems based on sensor–actuator networks

This paper proposes two kinds of iterative learning control (ILC) schemes for a class of the distributed parameter systems based on sensor–actuator networks which can be described by hyperbolic partial differential equations. A D-type ILC algorithm is first considered and the convergent condition of the output error is obtained via the contraction mapping methodology. Then, the PD-type ILC algorithm is considered in this hyperbolic distributed parameter systems based on sensor–actuator networks. Finally, a cable equation with air and structural damping is given to illustrate the effectiveness of the proposed methods.     

一阶强双曲分布参数系统的迭代学习控制

研究了一阶强双曲分布参数系统的迭代学习控制问题.首先利用Fourier变换和半群方法导出了系统状态的适应解.进而基于强双曲条件和Plancheral定理,在允许迭代过程中初值存在一定偏差条件下,给出并证明了系统在P型迭代学习控制算法下的收敛条件.最后应用实例说明了所提方法的有效性.     

Output feedback control of general linear heterodirectional hyperbolic PDE-ODE systems with spatially-varying coefficients

This paper presents a backstepping solution for the output feedback control of general linear heterodirectional hyperbolic PDE-ODE systems with spatially varying coefficients. Thereby, the ODE is coupled to the PDE in-domain and at the uncontrolled boundary, whereas the ODE is coupled with the latter boundary. For the state feedback design, a two-step backstepping approach is developed, which yields the conventional kernel equations and additional decoupling equations of simple form. In order to implement the state feedback controller, the design of observers for the PDE-ODE systems in question is considered, whereby anti-collocated measurements are assumed. Exponential stability with a prescribed convergence rate is verified for the closed-system pointwise in space. The resulting compensator design is illustrated for a 4 × 4 heterodirectional hyperbolic system coupled with a third-order ODE modelling a dynamic boundary condition.     

关于非线性系统带稳定性的局部干扰解耦

非线性带稳定性的干扰解耦问题(DDPS)近年来备受人们的注意,并获得了一些成果(参阅[2,3,4,5,6])。本文的主要贡献是,在更一般的情况下(例如,输入-输出个数不同,不要求双曲条件,不要求指数稳定等),给出了一类非线性系统DDPS有解的充要条件。     

Variational optimality condition in the problem of control of initial boundary conditions for semilinear hyperbolic systems

Consideration is given to the problem of optimal control of a system of semilinear hyperbolic equations at finite-dimensional (pointwise) relations between initial boundary states of the system and control actions. In this case, the optimality condition in the form of a pointwise maximum principle is invalid. A nonclassical optimality condition of a variational type is proved. The sense of the obtained result is in that an optimal boundary or start control nearly at each point is a solution to a special problem of control of initial conditions for the system of ordinary differential equations constructed on the family of characteristics of the initial hyperbolic system. Constructions of the indicated optimality condition are illustrated by two examples. An iterative method based on the obtained result is stated. The method does not require additional assumptions about the differentiability of parameters of the control problem and convexity of the set of admissible controls necessary in using gradient methods.     

Complete controllability of continuous-time recurrent neural networks

This paper studies controllability for the class of control systems commonly called (continuous-time) recurrent neural networks. It is shown that, under a generic condition on the input matrix, the system is controllable, for every possible state matrix. The result holds when the activation function is the hyperbolic tangent.     

Hermite approximation of a hyperbolic Fokker–Planck optimality system to control a piecewise-deterministic process

The Hermite spectral approximation of a hyperbolic Fokker–Planck (FP) optimality system arising in the control of an unbounded piecewise-deterministic process (PDP) is discussed. To control the probability density function (PDF) corresponding to the PDP process, an optimal control based on an FP strategy is considered. The resulting optimality system consists of a hyperbolic system with opposite-time orientation and an integral optimality condition equation. A Hermite spectral discretisation is investigated to approximate solutions to the optimality system in unbounded domains. It is proven that the proposed scheme satisfies the conservativity requirement of the PDFs. The spectral convergence rate of the discretisation scheme is proved and validated by numerical experiments.     

Finite spectrum assignment of systems with general delays

This article presents a new framework for dealing with pure and distributed delays simultaneously and impartially as general delays in algebraic finite spectrum assignment. The framework based on an important property common to general delays gives a sufficient condition for finite spectrum assignability of scalar systems with several general delays and a design method of a controller achieving finite spectrum assignment. Especially in algebraic control theory for delay systems, pure and distributed delays have never been dealt with simultaneously and impartially. The framework is significantly important also for multidimensional system theory because its potential applicability to the discussion on systems with general delays, i.e. the possibility that especially distributed delay operators are used as variables for describing multidimensional systems, is clarified for the first time.     

Nonlinear stabilization in infinite dimension

Significant advances have taken place in the last few years in the development of control designs for nonlinear infinite-dimensional systems. Such systems typically take the form of nonlinear ODEs (ordinary differential equations) with delays and nonlinear PDEs (partial differential equations). In this article we review several representative but general results on nonlinear control in the infinite-dimensional setting. First we present designs for nonlinear ODEs with constant, time-varying or state-dependent input delays, which arise in numerous applications of control over networks. Second, we present a design for nonlinear ODEs with a wave (string) PDE at its input, which is motivated by the drilling dynamics in petroleum engineering. Third, we present a design for systems of (two) coupled nonlinear first-order hyperbolic PDEs, which is motivated by slugging flow dynamics in petroleum production in off-shore facilities. Our design and analysis methodologies are based on the concepts of nonlinear predictor feedback and nonlinear infinite-dimensional backstepping. We present several simulation examples that illustrate the design methodology.     

Modeling, identification, and control of a class of nonlinearsystems

In this paper, we propose a new fuzzy hyperbolic model for a class of complex systems, which is difficult to model. The fuzzy hyperbolic model is a nonlinear model in nature and can be easily derived from a set of fuzzy rules. It can also be seen as a feedforward neural network model and so we can identify the model parameters by BP-algorithm. We prove that the stable controller can be designed based on linear system theory. Two methods of designing the controller for the fuzzy hyperbolic model are proposed. The results of simulation support the effectiveness of the model and the control scheme     

Vibration control of the flexible manipulator with input constraints and external disturbances based on Nussbaum function

In this paper, a boundary control scheme based on the partial differential equation (PDE) model is proposed for the vibration control problem of the flexible manipulator with input constraints and external disturbances. Based on the backstepping method, two boundary controllers are designed to stabilize the position loop subsystem and the attitude loop subsystem, respectively, and auxiliary systems based on the smooth hyperbolic tangent function and Nussbaum function are designed in the controllers to deal with the input saturation and external disturbances. The Nussbaum function can overcome the difficulties in controller design and stability analysis caused by the derivatives of smooth hyperbolic tangent functions. The well-posedness of the closed-loop system is proven by employing the semigroup theory, and the uniformly bounded stability is proved by Lyapunov direct method. Finally, the performance of the proposed control laws is verified by numerical simulations.     

Observability theorems for some linear hyperbolic systems

In this paper the observability of systems of first-order hyperbolic partial differential equations is investigated. Both systems with boundary measurements and systems with distributed measurements are considered. In the case of boundary measurements a sufficient condition is found for observability. This condition is shown also to be necessary for systems defined on a one-dimensional space domain, as well as in other special cases. In the case of linear distributed measurements, a necessary and sufficient condition for observability is derived. The theorems are applicable for example to linearized hydrodynamical flow equations and to industrial flow system equations.     

Trajectory and Final Controllability in Hyperbolic and Pseudohyperbolic Systems with Generalized Actions

Based on previous a priori estimates in negative norms, the problems of controllability of the entire trajectory and, at the final point of this trajectory, of existence of an optimal control (for a sufficiently general quality criterion) over hyperbolic and pseudohyperbolic systems with generalized actions (pulse, point, pulse-point, moving, etc.) are investigated.     

A new approach to fuzzy modeling and control of discrete-time systems

We present a new approach to fuzzy modeling and control of discrete-time systems which is based on the formulation of a novel state-space representation using the hyperbolic tangent function. The new representation, designated the hyperbolic model, combines the advantages of fuzzy system theory and classical control theory. On the one hand, the hyperbolic model is easily derived from a set of Mamdani-type fuzzy rules. On the other hand, classical control theory can be applied to design controllers for the hyperbolic model that not only guarantee stability and robustness but are themselves equivalent to a set of Mamdani-type fuzzy rules. Thus, this new approach combines the best of two worlds. It enables linguistic interpretability of both the model and the controller, and guarantees closed-loop stability and robustness.     

不确定广义系统的降阶H-infinity控制器设计

研究基于函数观测器的不确定广义系统的降阶H-infinity控制器设计问题. 首先提出了基于严格线性矩阵不等式的不确定广义系统H-infinity控制的充分条件, 并用于状态反馈H-infinity控制设计. 然后对所得控制增益进行降阶观测, 基于广义Sylvester矩阵方程的显式通解, 考虑系统的H-infinity性能约束, 提出了降阶输出反馈控制器的参数化设计方法.     

Adaptive Iterative Learning Control for a Class of Nonlinear Time-varying Systems with Unknown Delays and Input Dead-zone

This paper presents an adaptive iterative learning control (AILC) scheme for a class of nonlinear systems with unknown time-varying delays and unknown input dead-zone. A novel nonlinear form of dead-zone nonlinearity is presented. The assumption of identical initial condition for iterative learning control (ILC) is removed by introducing boundary layer function. The uncertainties with time-varying delays are compensated for by using appropriate Lyapunov-Krasovskii functional and Young0s inequality. Radial basis function neural networks are used to model the time-varying uncertainties. The hyperbolic tangent function is employed to avoid the problem of singularity. According to the property of hyperbolic tangent function, the system output is proved to converge to a small neighborhood of the desired trajectory by constructing Lyapunov-like composite energy function (CEF) in two cases, while keeping all the closedloop signals bounded. Finally, a simulation example is presented to verify the effectiveness of the proposed approach.      

Global stabilization of semilinear systems using switching controls

This paper considers feedback stabilization of distributed semilinear systems using switching controls. The semilinear processes, together with the switched controllers, constitute a type of switched nonlinear system. Three kinds of stabilizabilities, namely weak, strong and exponential stabilizabilities, are investigated one by one. Sets of sufficient conditions are obtained for each case. A necessary condition for strong stabilizability is given. The stabilizing control is characterized using a minimization problem. Applications to parabolic and hyperbolic like equations are considered.     

基于输入约束一致性算法的多无人机编队控制

针对多无人机系统的编队控制问题,提出了一种基于级联系统理论及输入约束一致性算法的控制方法。首先,给出了垂直起降无人机系统的一般性模型。然后,基于级联系统理论将复杂的一般性模型化简成级联形式,针对级联形式模型,利用双曲正切函数的有界性质,在控制器设计时引入双曲正切函数设计了一致性控制算法。最后基于所设计的输入约束一致性控制算法,设计编队控制算法研究了多无人机编队控制问题。基于Matlab仿真平台对所提控制方法进行验证,仿真结果表明在所设计的一致性控制算法作用下,系统中所有的状态都能够趋于一致。基于所设计的输入约束一致性算法,所提编队控制算法可以实现空间中的无人机保持指定的编队队形飞行。     

Dynamic Model Adaptation for Multiscale Simulation of Hyperbolic Systems with Relaxation

In numerous industrial CFD applications, it is usual to use two (or more) different codes to solve a physical phenomenon: where the flow is a priori assumed to have a simple behavior, a code based on a coarse model is applied, while a code based on a fine model is used elsewhere. This leads to a complex coupling problem with fixed interfaces. The aim of the present work is to provide a numerical indicator to optimize to position of these coupling interfaces. In other words, thanks to this numerical indicator, one could verify if the use of the coarser model and of the resulting coupling does not introduce spurious effects. In order to validate this indicator, we use it in a dynamical multiscale method with moving coupling interfaces. The principle of this method is to use as much as possible a coarse model instead of the fine model in the computational domain, in order to obtain an accuracy which is comparable with the one provided by the fine model. We focus here on general hyperbolic systems with stiff relaxation source terms together with the corresponding hyperbolic equilibrium systems. Using a numerical Chapman–Enskog expansion and the distance to the equilibrium manifold, we construct the numerical indicator. Based on several works on the coupling of different hyperbolic models, an original numerical method of dynamic model adaptation is proposed. We prove that this multiscale method preserves invariant domains and that the entropy of the numerical solution decreases with respect to time. The reliability of the adaptation procedure is assessed on various 1D and 2D test cases coming from two-phase flow modeling.     

Non-fragile guaranteed cost control for Takagi–Sugeno fuzzy hyperbolic systems

This paper concerns the problems of non-fragile guaranteed cost control (GCC) for nonlinear systems with or without parameter uncertainties. The Takagi–Sugeno (T–S) fuzzy hyperbolic model is employed to represent the nonlinear system. The non-fragile controller is designed by parallel distributed compensation (PDC) method, and some sufficient conditions are formulated via linear matrix inequalities (LMIs) such that the system is asymptotically stable and the cost function satisfies an upper bound in the presence of the additive controller perturbations. The above approach is also extended to the non-fragile GCC of T–S fuzzy hyperbolic system with parameter uncertainties, and the robust non-fragile GCC scheme is obtained. The main advantage of the non-fragile GCC based on the T–S fuzzy hyperbolic model is that it can achieve small control amplitude via ‘soft’ constraint approach. Finally, a numerical example and the Van de Vusse example are given to illustrate the effectiveness and feasibility of the proposed approach.