Global adaptive stabilization for high‐order uncertain time‐varying nonlinear systems with time‐delays

This paper focuses on the adaptive stabilization problem for a class of high‐order nonlinear systems with time‐varying uncertainties and unknown time‐delays. Time‐varying uncertain parameters are compensated by combining a function gain with traditional adaptive technique, and unknown multiple time‐delays are manipulated by the delicate choice of an appropriate Lyapunov function. With the help of homogeneous domination idea and recursive design, a continuous adaptive state‐feedback controller is designed to guarantee that resulting closed‐loop systems are globally uniformly stable and original system states converge to zero. The effectiveness of the proposed control scheme is illustrated by the stabilization of delayed neural network systems. Copyright © 2016 John Wiley & Sons, Ltd.     

Heterogeneous consensus of higher‐order multi‐agent systems with mismatched uncertainties using sliding mode control

A robust consensus controller is proposed for heterogeneous higher‐order nonlinear multi‐agent systems, when the agent dynamics are involved with mismatched uncertainties. A distributed consensus protocol based on a time‐varying nonhomogeneous finite‐time disturbance observer and sliding mode control is designed to realize the network consensus of higher‐order multi‐agent systems. The time‐varying finite‐time disturbance observer overcomes the problem of peaking value near the initial time caused by the constant gain one and is designed to estimate the uncertainties and to mitigate the effect of mismatched uncertainties during the sliding mode. To eliminate the chattering phenomenon and ensure finite‐time convergence to the sliding surface, the control law is designed by using the super twisting algorithm. Finally numerical simulations are given to illustrate the validity of the proposed method. Copyright © 2016 John Wiley & Sons, Ltd.     

State synchronization of linear and nonlinear agents in time‐varying networks

This paper studies state synchronization of homogeneous time‐varying networks with diffusive full‐state coupling or partial‐state coupling. In the case of full‐state coupling, linear agents as well as a class of nonlinear time‐varying agents are considered. In the case of partial‐state coupling, we only consider linear agents, but, in contrast with the literature, we do not require the agents in the network to be minimum phase or at most weakly unstable. In both cases, the network is time‐varying in the sense that the network graph switches within an infinite set of graphs with arbitrarily small dwell time. A purely decentralized linear static protocol is designed for agents in the network with full‐state coupling. For partial‐state coupling, a linear dynamic protocol is designed for agents in the network while using additional communication among controller variables using the same network. In both cases, the design is based on a high‐gain methodology. Copyright © 2017 John Wiley & Sons, Ltd.     

Importance sampling for volumetric illumination of flames

Physically based rendering of scenes with volumetric illumination of flames remains a challenging problem due to the complexity of their heterogeneous radiative properties. Current bidirectional importance sampling strategies have been focusing on emissive light sources without anisotropic extinction. In this paper, we present an efficient importance sampling method for volumetric light sources with anisotropic extinction. According to the radiative properties of flames, we separate the computation of anisotropic extinction from the evaluation of illumination inside flames and utilize cluster-based hierarchies to rapidly estimate them. To exploit the coherence of radiative voxels, we also propose a new similarity metric to aggregate voxels into clusters. For each pixel to be shaded, we use these clusters to rapidly approximate the importance function of voxels, and draw final illumination samples from clusters. Our results show that this approach substantially reduces the variance of images when rendering scenes with flames.     

一种基于即时学习的非线性系统滑模预测控制方法

针对复杂非线性系统的控制问题,采用数据驱动的控制策略,将具有本质自适应能力的即时学习算法与具有强鲁棒性的滑模预测控制相结合,设计了一种基于即时学习的滑模预测(LL-SMPC)控制方法.该方法在在线局部建模的基础上,采用滑模预测控制律求取最优控制量,具有较强的自适应和抗干扰能力,并采用分层递阶搜索策略,避免了求解Diophantine方程,有效减少了计算量,提高了搜索效率.仿真结果验证了所提出算法的有效性.     

基于容许集的多胞不确定系统三模RMPC

针对输入和状态受约束的多胞不确定线性系统,提出了基于容许集的扩大吸引域三模鲁棒模型预测控制方法.在多面体不变集离线模型预测控制算法的基础上引入容许集,以多面体不变集序列的并集作为模态1,基于N步容许集的控制容许集作为模态2,并利用离线设计和在线优化的控制策略,设计了三模变终端约束鲁棒模型预测控制算法,以实现系统渐近稳定.该算法不仅降低了在线运算量,而且扩大了吸引域.最后的仿真结果验证了所提出算法的有效性.     

基于MSP430的公共照明控制器的设计与实现

应用Texas Instruments(德州仪器)公司研制的新一代超低功耗、功能强大、接口丰富的MSP430系列FLASH型单片机,以GP RS无线数据服务平台为传输媒介,设计了一种公共照明控制器.详细介绍了系统功能、硬件设计方案和软件实现方法,并给出了部分电路原理图和程序流程图.现已实际应用于城市照明监控管理系统中,在创造了客观经济效益的同时还实现了节能降耗的目的.     

A team algorithm for robust stability analysis and control design of uncertain time‐varying linear systems using piecewise quadratic Lyapunov functions

A team algorithm based on piecewise quadratic simultaneous Lyapunov functions for robust stability analysis and control design of uncertain time‐varying linear systems is introduced. The objective is to use robust stability criteria that are less conservative than the usual quadratic stability criterion. The use of piecewise quadratic Lyapunov functions leads to a non‐convex optimization problem, which is decomposed into a convex subproblem in a selected subset of decision variables, and a lower‐dimensional non‐convex subproblem in the remaining decision variables. A team algorithm that combines genetic algorithms (GA) for the non‐convex subproblem and interior‐point methods for the solution of linear matrix inequalities (LMI), which form the convex subproblem, is proposed. Numerical examples are given, showing the advantages of the proposed method. Copyright © 2001 John Wiley & Sons, Ltd.     

A theorem for UGAS and ULES of (passive) nonautonomous systems: robust control of mechanical systems and ships

The main contribution of this paper is a theorem to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES) for a class of nonlinear non‐autonomous systems which includes passive systems. These properties (and a uniform local Lipschitz condition) guarantee robustness of stability while weaker properties, like uniform global stability plus global convergence, do not. Our main result is then used in the tracking control problem of mechanical systems and ships. We use an adaptive backstepping design and prove UGAS of the closed‐loop tracking error system, in particular, we obtain that both the tracking and parameter estimation errors converge uniformly globally to zero. Copyright © 2001 John Wiley & Sons, Ltd.     

Performance Analysis of Periodic Control for l1 and l∞ Disturbance Rejection

This paper presents a performance analysis of discrete time periodically time varying controllers for the rejection of l_p specific and uniform disturbances. Earlier results on l₂ performance are extended to l₁ and l_∞ performance to present a unified treatment of l_p performance for all p ε [1, ∞]. For a given linear time varying periodic controller, a linear time invariant controller is constructed and necessary and sufficient conditions are presented under which the linear time invariant controller gives strictly better l_p disturbance rejection performance than the time varying periodic controller.