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81.
In this paper, the leader-following consensus problem of fractional-order multi-agent systems is considered via adaptive pinning control. The dynamics of leader and all followers with linear and nonlinear functions are investigated, respectively. We assume that the node should be pinned if its in-degree is less than its out-degree in the paper. Under this assumption and based on the stability theory of fractional-order differential systems, some leader-following consensus criteria are derived, which are easily obtained by matrix inequalities. The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented. The design technique is based on algebraic graph theory and the Riccati inequality. Several simulation examples are presented to demonstrate the effectiveness of the proposed method. 相似文献
82.
曲率属性及其在构造解释中的应用 总被引：5，自引：0，他引：5
分波数沿层二维曲率解释技术是最近兴起的解释新技术。文章从最基础的数学定义出发,阐述了曲线曲率的定义、物理意义及其在构造解释中的不足。在此基础上,重点描述了曲面的二维曲率,列表比较了其衍生属性的定义、物理含义和主要用途;讨论了差分法、傅氏变换法和分波数法计算曲率属性的算法以及应注意的问题;对等t0数据进行插值、迭代二维中值滤波处理后,用分波数法提取了道微分、倾角、方位角、平均曲率、高斯曲率、极大曲率、极小曲率、最大正曲率、最小负曲率、形态指数、倾向曲率、走向曲率、等值线曲率和弯曲度等14个曲率属性,并用道微分、方位角、走向、最大正曲率属性为例进行了断层和裂缝检测,取得了较好的应用效果。 相似文献
83.
This article focuses on the state feedback H ∞ control problem for commensurate fractional-order systems with a prescribed H ∞ performance. For linear time-invariant fractional-order systems, a sufficient condition to guarantee stability with H ∞ performance is firstly presented. Then, by introducing a new flexible real matrix variable, the feedback gain is decoupled with complex matrix variables and further parametrised by the new flexible matrix. Moreover, iterative linear matrix inequality algorithms with initial optimisation are developed to solve the state feedback H ∞ suboptimal control problem for fractional-order systems. Finally, illustrative examples are given to show the effectiveness of the proposed approaches. 相似文献
84.
In this paper, a novel fractional-order global sliding-mode control scheme is presented. It is first used to stabilise a coupled second-order nonlinear system, and then it is generalised to control a class of multi-input and multi-output nonlinear systems with the model uncertainties and external disturbances. The proposed sliding manifold, which will converge to the origin in finite time by utilising a classical quadratic Lyapunov function, ensures global stabilisation of the system and the reduction of the chattering phenomenon during the control processes. Based on input-to-state stability and Lyapunov's stability theorem, the closed-loop system can be globally uniformly asymptotically stabilised to the origin in the future time. Some results about the control and stabilisation of integer-order nonlinear systems, when the fractional-order sliding-mode controller is used, are illustrated in this paper. Finally, an application to two-degree of freedom polar robot manipulator is provided to show the validity and feasibility of the proposed method. 相似文献
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A self-regulated fractional-order fuzzy proportional–integral–derivative (SRFOFPID) controller is proposed to control a highly non-linear, complex and coupled 3-link planar rigid robotic manipulator in a virtual industrial environment. Industrial environment was simulated by introducing different kind of disturbances in the system and sensor noise. Proposed SRFOFPID controller is a direct non-linear adaptive controller having self-regulating feature and has been realized using fractional-order operators i.e. integrator and differentiator in self-regulated integer-order fuzzy PID (SRIOFPID) controller. Gains of SRFOFPID and SRIOFPID controllers are optimized using Backtracking Search Algorithm by minimizing an amalgamation of integral absolute error signal and integral absolute change in control signal as cost function. Performance of SRFOFPID and SRIOFPID controllers are assessed and compared with reference path under virtually simulated industrial environment. Presented intensive simulation studies revealed that both the controllers offered decent reference trajectory tracking performance under nominal operating conditions while SRFOFPID controller offered exceptionally robust performance under industrial scenario and uncertainties. Finally, the stability analysis of overall closed loop system is performed using small gain theorem and necessary and sufficient bounded-input and bounded-output stability conditions are established. 相似文献
90.
提出并论证了分数阶控制系统的空间根轨迹分析方法．通过任意阶次引起黎曼面的伸缩得出非整数次方程解的分布与阶次的关系，并由受分数阶影响的主黎曼面构造出分数阶控制系统特征根的运动空间，根据分数阶控制系统根轨迹的相角、幅值条件与阶次条件得到此空间下的系统根轨迹．论述了几何描述与解析2种方法，并给出空间根轨迹与平面根轨迹在主黎曼面意义下的等价关系． 相似文献