In this paper,a nonlinear control approach for an unstable networked plant in the presence of actuator and sensor limitations using robust right coprime factorization is proposed.The actuator is limited by upper and l...In this paper,a nonlinear control approach for an unstable networked plant in the presence of actuator and sensor limitations using robust right coprime factorization is proposed.The actuator is limited by upper and lower constraints and the sensor in the feedback loop is subjected to network-induced unknown time-varying delay and noise.With this nonlinear control method,we first employ right coprime factorization based on isomorphism and operator theory to factorize the plant,so that bounded input bounded output(BIBO)stability can be guaranteed.Next,continuous-time generalized predictive control(CGPC)is utilized for the unstable operator of the right coprime factorized plant to guarantee inner stability and enables the closed-loop dynamics of the system with predictive characteristics.Meanwhile,a second-Do F(degrees of freedom)switched controller that satisfies a perturbed Bezout identity and a robustness condition is designed.By using the CGPC controller that possesses predictive behavior and the second-Do F switched stabilizer,the overall stability of the plant subjected to actuator limitations is guaranteed.To address sensor limitations that exist in networked plants in the form of delay and noise which often cause system performance degradation,we implement an identity operator definition in the feedback loop to compensate for these adverse effects.Further,a pre-operator is designed to ensure that the plant output tracks the reference input.Finally,the effectiveness of the proposed design scheme is demonstrated by simulations.展开更多
In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is c...In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is considered respectively. In detail, by using operator based robust right coprime factorization approach, the control system design structures including feedforward and feedback controllers for both SISO and MIMO nonlinear uncertain systems are given, respectively.In which, the controller design includes the information of PI hysteresis and its inverse, and some sufficient conditions for the controllers in both SISO and MIMO systems should be satisfied are also derived respectively. Based on the proposed conditions, influence from hysteresis is rejected, the systems are robustly stable and output tracking performance can be realized.Finally, the effectiveness of the proposed method is confirmed by numerical simulations.展开更多
In this paper,a robust nonlinear free vibration control design using an operator based robust right coprime factorization approach is considered for a flexible plate with unknown input nonlinearity.With considering th...In this paper,a robust nonlinear free vibration control design using an operator based robust right coprime factorization approach is considered for a flexible plate with unknown input nonlinearity.With considering the effect of unknown input nonlinearity from the piezoelectric actuator,operator based controllers are designed to guarantee the robust stability of the nonlinear free vibration control system.Simultaneously,for ensuring the desired tracking performance and reducing the effect of unknown input nonlinearity,operator based tracking compensator and estimation structure are given,respectively.Finally,both simulation and experimental results are shown to verify the effectiveness of the proposed control scheme.展开更多
In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-u...In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.展开更多
This Special Issue will accept contributions describing innovative research and developments in‘Advanced Mechatronic Systems’,and will cover a wide range of disciplines,including robotics,automation and control syst...This Special Issue will accept contributions describing innovative research and developments in‘Advanced Mechatronic Systems’,and will cover a wide range of disciplines,including robotics,automation and control systems,and new energy systems.It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications in advanced mechatronic systems.Novel quantitative engineering and science studies may be considered as well.展开更多
文摘In this paper,a nonlinear control approach for an unstable networked plant in the presence of actuator and sensor limitations using robust right coprime factorization is proposed.The actuator is limited by upper and lower constraints and the sensor in the feedback loop is subjected to network-induced unknown time-varying delay and noise.With this nonlinear control method,we first employ right coprime factorization based on isomorphism and operator theory to factorize the plant,so that bounded input bounded output(BIBO)stability can be guaranteed.Next,continuous-time generalized predictive control(CGPC)is utilized for the unstable operator of the right coprime factorized plant to guarantee inner stability and enables the closed-loop dynamics of the system with predictive characteristics.Meanwhile,a second-Do F(degrees of freedom)switched controller that satisfies a perturbed Bezout identity and a robustness condition is designed.By using the CGPC controller that possesses predictive behavior and the second-Do F switched stabilizer,the overall stability of the plant subjected to actuator limitations is guaranteed.To address sensor limitations that exist in networked plants in the form of delay and noise which often cause system performance degradation,we implement an identity operator definition in the feedback loop to compensate for these adverse effects.Further,a pre-operator is designed to ensure that the plant output tracks the reference input.Finally,the effectiveness of the proposed design scheme is demonstrated by simulations.
基金supported by the National Natural Science Foundation of China(61203229)
文摘In this paper, operator based robust nonlinear control for single-input single-output(SISO) and multi-input multi-output(MIMO) nonlinear uncertain systems preceded by generalized Prandtl-Ishlinskii(PI) hysteresis is considered respectively. In detail, by using operator based robust right coprime factorization approach, the control system design structures including feedforward and feedback controllers for both SISO and MIMO nonlinear uncertain systems are given, respectively.In which, the controller design includes the information of PI hysteresis and its inverse, and some sufficient conditions for the controllers in both SISO and MIMO systems should be satisfied are also derived respectively. Based on the proposed conditions, influence from hysteresis is rejected, the systems are robustly stable and output tracking performance can be realized.Finally, the effectiveness of the proposed method is confirmed by numerical simulations.
文摘In this paper,a robust nonlinear free vibration control design using an operator based robust right coprime factorization approach is considered for a flexible plate with unknown input nonlinearity.With considering the effect of unknown input nonlinearity from the piezoelectric actuator,operator based controllers are designed to guarantee the robust stability of the nonlinear free vibration control system.Simultaneously,for ensuring the desired tracking performance and reducing the effect of unknown input nonlinearity,operator based tracking compensator and estimation structure are given,respectively.Finally,both simulation and experimental results are shown to verify the effectiveness of the proposed control scheme.
文摘In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.
文摘This Special Issue will accept contributions describing innovative research and developments in‘Advanced Mechatronic Systems’,and will cover a wide range of disciplines,including robotics,automation and control systems,and new energy systems.It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications in advanced mechatronic systems.Novel quantitative engineering and science studies may be considered as well.
