Global sliding mode with fractional operators and application to control robot manipulators

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.     

基于改进BBO算法的分数阶PID控制器设计

针对分数阶PID(Fractional-Order Proportional-Integral-Derivative,FOPID)控制器参数整定,提出了一种改进生物地理学优化(Biogeography-Based Optimization,BBO)算法。该算法改进点主要包括:迁移操作中保留精英个体;变异操作中引入差分进化(Dtferential Evolution,ED)算法的变异策略;消除重复样本。仿真结果表明:在分数阶PID控制器参数整定中,与原始的BBO算法、遗传算法(Genetic Algorithm,GA)和粒子群算法(Particle Swarm Optimization,PSO)比较,提出的改进BBO算法具有超调量小、误差小,收敛更快的特点。     

Efficient control of a 3-link planar rigid manipulator using self-regulated fractional-order fuzzy PID controller

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.     

规则RC分形分抗逼近电路的零极点分布

从电路结构特性与数学表示特征两方面,考察与探讨经典的规则RC分形分抗逼近电路的阻抗函数之零极点解析求解与数值求解理论与方法.首先简要介绍经典分形分抗逼近电路并引入迭代电路、迭代函数、迭代矩阵等新概念.通过特征值分解或Hamilton-Cayley展开,求出迭代矩阵幂而获得某些经典(比如Oldham分形链、Carlson分形格、B型、2h型等)分形分抗的阻抗函数之简洁数学解析表达式.最后给出分抗逼近电路零极点的解析求解法与有效数值求解法及其解结果并进行理论与实践验证.     

基于H∞优化设计分数阶PDμ控制器

本文针对分数阶时滞系统,利用H∞优化理论,设计分数阶PDμ控制器.首先,给定微分阶次μ,利用图解稳定性准则确定并画出分数阶时滞系统的PDμ控制器在（Kp,Kd）参数平面上的稳定域.然后,在稳定域内计算出满足补灵敏度函数的H∞范数约束的控制器比t例增益和微分增益,并确定H∞边界曲线.最后,通过改变H∞控制器的微分阶次,能得到H∞曲线与分数阶次μ之间的关系.     

State feedback H ∞ control of commensurate fractional-order systems

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.     

BIBO stability of fractional-order controlled nonlinear systems

The BIBO stability of fractional-order controlled nonlinear systems is investigated in this paper. By introducing the properties of some Mittag-Leffler functions and using an inequality satisfied by the Caputo derivative of a Lyapunov function, sufficient conditions to guarantee the BIBO stability are firstly presented. Then, the boundedness of solutions of the fractional financial system and the fractional low-order atmospheric circulation system are proved by the established stability results. Besides, two illustrative examples verify the theoretical results.     

Synchronization of fractional-order uncertain chaotic systems with input nonlinearity

In this paper, sliding mode control has been designed for synchronization of fractional order uncertain chaotic systems with input nonlinearity. First, sliding mode control law has been taken from chaotic state error system which is asymptotically stable. Second, the shown sliding mode control ensures that fractional-order error system is asymptotically stable in the presence of uncertainty and nonlinear input. Simulation results using MATLAB software show that the designed controller is able to synchronize fractional-order chaotic systems in the presence of the mentioned factors.     

A Fractional Drift Diffusion Model for Organic Semiconductor Devices

Because charge carriers of many organic semiconductors (OSCs) exhibit fractional drift diffusion (Fr-DD) transport properties, the need to develop a Fr-DD model solver becomes more apparent. However, the current research on solving the governing equations of the Fr-DD model is practically nonexistent. In this paper, an iterative solver with high precision is developed to solve both the transient and steady-state Fr-DD model for organic semiconductor devices. The Fr-DD model is composed of two fractional-order carriers (i.e., electrons and holes) continuity equations coupled with Poisson’s equation. By treating the current density as constants within each pair of consecutive grid nodes, a linear Caputo’s fractional-order ordinary differential equation (FrODE) can be produced, and its analytic solution gives an approximation to the carrier concentration. The convergence of the solver is guaranteed by implementing a successive over-relaxation (SOR) mechanism on each loop of Gummel’s iteration. Based on our derivations, it can be shown that the Scharfetter–Gummel discretization method is essentially a special case of our scheme. In addition, the consistency and convergence of the two core algorithms are proved, with three numerical examples designed to demonstrate the accuracy and computational performance of this solver. Finally, we validate the Fr-DD model for a steady-state organic field effect transistor (OFET) by fitting the simulated transconductance and output curves to the experimental data.     

基于云计算模型的分数阶超混沌加密算法

针对大数据安全以及混沌加密安全性等问题,提出了一种基于云计算模型的分数阶超混沌系统的加密算法。首先选取了两个分数阶超混沌系统的初始值作为密钥参数,基于分数阶混沌生成用于加密的伪随机序列,进而提出了一个结合云计算MapReduce并行数据处理模型的加密算法。在MapReduce并行加密方面,依次进行分块、Map并行加密和Reduce数据归并等操作。为了抵御明文类的密码攻击,算法中采用与明文特征关联的混沌序列生成方法。最后,在云计算实验环境中的实验结果表明,该算法的密钥空间达到372 bit,能够有效抵御明文类的密码攻击,具有密钥高度敏感的特性。同时,实验结果验证了云计算MapReduce并行加密的有效性。