PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

Integral barrier Lyapunov function-based adaptive fuzzy output feedback control for nonlinear delayed systems with time-varying full-state constraints

In this article, an adaptive fuzzy output feedback control method is presented for nonlinear time-delay systems with time-varying full state constraints and input saturation. To overcome the problem of time-varying constraints, the integral barrier Lyapunov functions (IBLFs) integrating with dynamic surface control (DSC) are applied for the first time to keep the state from violating constraints. The effects of unknown time delays can be removed by using designed Lyapunov-Krasovskii functions (LKFs). An auxiliary design system is introduced to solve the problem of input saturation. The unknown nonlinear functions are approximated by the fuzzy logic systems (FLS), and the unmeasured states are estimated by a designed fuzzy observer. The novel controller can guarantee that all signals remain semiglobally uniformly ultimately bounded and satisfactory tracking performance is achieved. Finally, two simulation examples illustrate the effectiveness of the presented control methods.     

Adaptive actuator failure compensation design for unknown chaotic multi‐input systems

In this paper, an adaptive control approach is designed for compensating the faults in the actuators of chaotic systems and maintaining the acceptable system stability. We propose a state‐feedback model reference adaptive control scheme for unknown chaotic multi‐input systems. Only the dimensions of the chaotic systems are required to be known. Based on Lyapunov stability theory, new adaptive control laws are synthesized to accommodate actuator failures and system nonlinearities. An illustrative example is studied. The simulation results show the effectiveness of the design method. Copyright © 2014 John Wiley & Sons, Ltd.     

Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

Power Input Prediction in Agitated Gas‐Liquid Contactors with Non‐coalescent Batch

Volumetric mass transfer coefficients, k_La, just as power input are considered as essential parameters for mechanically agitated gas‐liquid contactors in relation to their optimization and design. The knowledge of power input is crucial for the prediction of other mass transfer characteristics. A power input correlation is created for the industrial design of the process with a non‐coalescent batch that would be appropriate for a broad range of operational conditions. The recommended resulting correlation is able to predict the power input for impellers in industrial‐scale design for a significant scope of operational conditions.     

Filtered adaptive constrained sampled-data control for uncertain multivariable nonlinear systems

A filtered adaptive constrained sampled-data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed-loop system with the sampled-data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled-data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.     

嵌入式盲文单手输入系统设计与实现

计算机录入编辑盲文是信息处理的特殊应用领域，是特殊教育中的重要研究课题。文中将盲文制作为特殊符号，通过制作字库，编写个性化码表，然后嵌入到主流输入法，从而实现盲文与汉字混排以及实现单手盲文输入。该系统具有易学易记性、盲文编码多样性、嵌入性强等优点，并通过实验证明输入盲文效率能提高5~6倍，在盲文出版、盲文印刷、盲文教学等领域有重要的应用价值。但盲文字符在不同平台(如智能手机)与不同操作系统兼容性问题还有待进一步研究开发。     

测试(试井)成果影响因素浅析

随着测试技术的发展、测试质量及资料解释水平的提高，测试（试井）成果的可靠程度越来越受到重视。影响解释成果的环节和因素很多，从客观和主观两方面分析其主要因素，找出症结所在，从而完善现场环节，完善资料解释过程，提高测试技术及解释水平。     

A New Approach for Built‐in Self‐Test of 4.5 to 5.5 GHz Low‐Noise Amplifiers

This paper presents a low‐cost RF parameter estimation technique using a new RF built‐in self‐test (BIST) circuit and efficient DC measurement for 4.5 to 5.5 GHz low noise amplifiers (LNAs). The BIST circuit measures gain, noise figure, input impedance, and input return loss for an LNA. The BIST circuit is designed using 0.18 μm SiGe technology. The test technique utilizes input impedance matching and output DC voltage measurements. The technique is simple and inexpensive.     

A suitable computational strategy for the parametric analysis of problems with multiple contact

The aim of the present work is to develop an application of the LArge Time INcrement (LATIN) approach for the parametric analysis of static problems with multiple contacts. The methodology adopted was originally introduced to solve viscoplastic and large‐transformation problems. Here, the applications concern elastic, quasi‐static structural assemblies with local non‐linearities such as unilateral contact with friction. Our approach is based on a decomposition of the assembly into substructures and interfaces. The interfaces play the vital role of enabling the local non‐linearities, such as contact and friction, to be modelled easily and accurately. The problem on each substructure is solved by the finite element method and an iterative scheme based on the LATIN method is used for the global resolution. More specifically, the objective is to calculate a large number of design configurations. Each design configuration corresponds to a set of values of all the variable parameters (friction coefficients, prestress) which are introduced into the mechanical analysis. A full computation is needed for each set of parameters. Here we propose, as an alternative to carrying out these full computations, to use the capability of the LATIN method to re‐use the solution to a given problem (for one set of parameters) in order to solve similar problems (for the other sets of parameters). Copyright © 2003 John Wiley & Sons, Ltd.