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71.
Command governor for constrained switched systems with scheduled model transition dwell times 下载免费PDF全文
In this paper, a switched control architecture for constrained control systems is presented. The strategy is based on command governor ideas that are here specialized to ‘optimally’ schedule switching events on the plant dynamics for improving control performance at the expense of low computational burdens. The significance of the method mainly lies in its capability to avoid constraints violation and loss of stability regardless of any configuration change occurrence in the plant/constraint structure. To this end, the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfilment. Simulation results on a simple linear system and on a Cessna 182 aircraft model show the effectiveness of the proposed strategy. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
72.
Robust adaptive DSC of directly input‐coupled nonlinear systems with input unmodeled dynamics and time‐varying output constraints 下载免费PDF全文
In this paper, an adaptive robust dynamic surface control is proposed for a class of uncertain nonlinear interconnected systems with time‐varying output constraints and dynamic input and output coupling. The directly coupled inputs and control inputs are both of nonlinear input unmodeled dynamics. To counteract the instable impact of the nonlinear input unmodeled dynamics, normalization signals are designed on the basis of the convergence rates of their Lyapunov functions. With new state variables and control variables being defined, the real control inputs are obtained through solving the equations of intermediate control laws. The time‐varying constraints on output signals are implemented by introducing asymmetric barrier Lyapunov functions. In addition, dynamic signals and decentralized K‐filters are used to deal with the state unmodeled dynamics and to estimate the unmeasurable states, respectively. By the theoretical analysis, the signals in the closed‐loop system are proved to be semi‐globally uniformly ultimately bounded, and the output constraints are guaranteed simultaneously. A numerical example is provided to show the effectiveness of the proposed approach. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
73.
The structural properties of networked control systems with both bandwidth limitations and delays are investigated. Sufficient conditions are given for controllability (stabilizability) and reconstructibility (detectability). Our results enhance previous works by capturing bandwidth limitations and delays simultaneously. The adopted modeling framework could be readily used in control and estimation methods, including optimal and predictive schemes. It also facilitates the use of scheduling optimization algorithms in conjunction with the control scheme presented. 相似文献
74.
Leaning against a stationary barrier during manual materials handling tasks is observed in many industrial environments, but the effects of this kinematic constraint on low back mechanics are unknown. Thirteen participants performed two-handed lifting tasks using both a leaning posture and no leaning posture while trunk kinematics, muscle activity and ground reaction force were monitored. Results revealed that lifting with the leaning posture required significantly less activity in erector spinae (26% vs. 36% MVC) and latissimus dorsi (8% vs. 14% MVC), and less passive tissue moment compared with the no leaning posture. Peak sagittal accelerations were lower when leaning, but the leaning posture also had significantly higher slip potential as measured by required coefficient of friction (0.05 vs. 0.36). The results suggested that the leaning lifting strategy provides reduced low back stress, but does so at the cost of increased slip potential. 相似文献
75.
The null controllable set of a system is the largest set of states that can be controlled to the origin. Control systems that have a region of attraction equal to the null controllable set are said to be maximally controllable closed-loop systems. In the case of open-loop unstable plants with amplitude constrained control it is well known that the null controllable set does not cover the entire state-space. Further the combination of input constraints and unstable system dynamics results in a set of state constraints which we call implicit constraints. It is shown that the simple inclusion of implicit constraints in a controller formulation results in a controller that achieves maximal controllability for a class of open-loop unstable systems. 相似文献
76.
Pilar NietoAuthor Vitae 《Data & Knowledge Engineering》2011,70(2):182-207
Association redefinition is a UML construct that permits us to define an association end more specifically in a particular context. Concretely, it allows specifying some additional participation and cardinality constraints on the association. Association refinements, which have been studied and used by many authors in conceptual modelling languages prior to UML, are closely related to association redefinitions. They also permit to refine the ends of an association adding participation and cardinality constraints. In this paper, we analyze and compare the semantics of both concepts and propose to extend the semantics of association redefinitions in UML to cover all the constraints that may be expressed by association refinements in other conceptual modelling languages. Additionally, we present how to integrate previous results on validation of association refinements to UML and how to generate code for a relational technology platform. Finally, we provide a prototype tool to verify the feasibility of the approach. 相似文献
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现有的一些典型半监督降维算法,往往在利用标记信息的同时却忽略了样本数据本身的流形特征,或者是对流形特征使用不当,导致算法性能表现不佳并且应用领域狭窄。针对上述问题提出了半监督复杂结构数据降维方法,同时保持样本数据的全局与局部的流形特征。通过设置适当的目标函数,使算法结果能有更广泛的应用场合,实验证明了算法的有效性。 相似文献
80.
基于模糊目标和模糊约束的满意控制 总被引:4,自引:1,他引:3
研究在预测控制框架下进行模糊决策问题,提出一种基于模糊目标和模糊约束的预测控制方法。其目标函数以决策者的控制要求和最终控制的满意度来表示,比传统的加权方差具有更多的自由度;与基于二次型性能指标的预测相比,该方法可使系统设计更加灵活。仿真结果表明了该方法的有效性。 相似文献