This study develops an event-triggered control strategy utilizing the fully actuated system approach for nonlinear interconnected large-scale systems containing actuator failures.First,to reduce the complexity of the ...This study develops an event-triggered control strategy utilizing the fully actuated system approach for nonlinear interconnected large-scale systems containing actuator failures.First,to reduce the complexity of the design process,we transform the studied system into the form of a fully actuated system through a state transformation.Then,to address the unknown nonlinear functions and actuator fault parameters,we employ neural networks and adaptive estimation techniques,respectively.Moreover,to reduce the control cost and improve the control efficiency,we introduce event-triggered inputs into the control strategy.It is proved by the Lyapunov stability analysis that all signals of the closed-loop system are bounded and the output of system eventually converge to a bounded region.The efficacy of the control approach is ultimately demonstrated via the simulation of an actual machine feeding system.展开更多
Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are o...Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.展开更多
This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulat...This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.展开更多
Dear Editor,In this letter,several novel controllability results for a class of linear switched and impulsive systems are established.Different from the developed controllability conditions in most existing literature...Dear Editor,In this letter,several novel controllability results for a class of linear switched and impulsive systems are established.Different from the developed controllability conditions in most existing literature,the important role of switched and impulsive time sequence is considered.Applying the relevant geometric theory of matrix,a necessary and sufficient criterion for the controllability is firstly developed to judge when the controllability of such systems is affected by switched and impulsive time sequence.Furthermore,we further obtain a sufficient controllability condition that can be used to verify the controllability of such systems regardless of the switched and impulsive time sequence.Finally,a numerical example is given to verify the obtained theoretical results.展开更多
It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H...It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H∞norm and control parameters.An optimal-Lyapunov-function-based controller design concept is proposed,and a minimum amplitude control scheme is presented under amplitude-bounded disturbances.Firstly,the optimal Lyapunov function is proposed by analyzing the geometric characteristics of the system H∞norm,and the necessary and sufficient condition of the optimal Lyapunov function parameter matrix is given.Secondly,the optimal Lyapunov function parameter matrix is constructed in the parameterized matrix equation,and the accurate quantitative relationship between the system H∞norm and control parameters is given.Finally,the control parameter optimization method is proposed according to the quantitative relationship between the system H∞norm and control parameters.Unlike robust optimization control methods,the presented minimum amplitude control scheme avoids the improper selection of the Lyapunov function in the controller design,and provides a novel way to design the minimum amplitude control under the given control accuracy.A buck converter example is given to illustrate the effectiveness and practicability of the presented scheme.展开更多
Differential inequalities generated in an extended Lyapunov framework are employed in the stability and instability analyses of a class of switched continuous-time second-and higher order linear systems with an arbitr...Differential inequalities generated in an extended Lyapunov framework are employed in the stability and instability analyses of a class of switched continuous-time second-and higher order linear systems with an arbitrary number of switching matrices.The exponential stability and instability(ESI)conditions so obtained involve the supremum and infimum of ratios of certain quadratic forms of the matrices,leading to global time-averages of their activity intervals.Further,motivated by linear switching system examples of(i)instability with stable matrices and(ii)stability with unstable matrices(found in the literature primarily for second-order systems),the proposed framework is generalized to establish ESI conditions that include both the activity intervals of the matrices and their switching rates,the latter being governed by a certain logarithmic measure of the normalized magnitudes of discontinuities caused by switching.In effect,(the new,globally averaged)dwell-time is flexibly traded,apparently for the first time,but under specific conditions(related,in part,to the eigenvalues of the matrices),for switching discontinuity-based conditions.Two further novel aspects of the proposed approach are:(i)For second-order matrices,switching lines in phase space can be chosen for periodic switching to stabilize or destabilize the system,and even generate oscillations,depending on the eigenvalues of the system matrices.But for third-(and higher)order matrices,such an analytically tractable(and controlled)periodical switching entails solution of an explicit non-convex multi-parameter optimization problem for which a stochastic optimization algorithm from the literature can be invoked.(ii)Lower and upper bounds on the solutions of the system equations can be quantified to reflect the stability/instability/oscillatory property of the system.Illustrative examples,which demonstrate the novelty of the derived stability and instability conditions,are presented in part 2 which is advisedly to be read along with this part 1 for a coherent merging of theory with practice.展开更多
Switched linear parameter varying(LPV)systems have,in recent years,inspired a great number of research endeavors owing to their excellent ability to approximate nonlinear systems and handle complex hybrid dynamics in ...Switched linear parameter varying(LPV)systems have,in recent years,inspired a great number of research endeavors owing to their excellent ability to approximate nonlinear systems and handle complex hybrid dynamics in system analysis and synthesis.Nevertheless,numerous difficulties and challenges are also encountered due to the reciprocal effects of switching signals and scheduling parameters in the analysis and synthesis of switched LPV systems.In this paper,the standard description and specific characteristics of switched LPV systems are first introduced.Then,the main methodologies are proposed in the literature to cope with stability and performance analysis,control synthesis,as well as fault diagnosis and fault-tolerant control issues,and the typical applications in various fields are surveyed.Finally,several key open problems and current research activities are also discussed to elucidate the potential research directions in the future.展开更多
In this second part of the paper,bearing the same title as above,but with the last hyphenated phrase replaced by part 1(Theory),the exponential stability and instability(ESI)Theorems 1–4 of part 1 are illustrated by ...In this second part of the paper,bearing the same title as above,but with the last hyphenated phrase replaced by part 1(Theory),the exponential stability and instability(ESI)Theorems 1–4 of part 1 are illustrated by applying them to second-andby,say,third-order linear switched systems with different eigenvalue structures to demonstrate the versatility,novelty and superiority(over many of the results found in the literature,especially for second-order switched lined systems)of the new theoretical results.The computational procedure that is employed with reference to the third-order systems is generic,in the sense that it is applicable to higher(i.e.,greater than third-)order linear switched systems.A pseudo-code for a computer implementation of the stability/instability conditions is also presented.With the principal aim of facilitating an independent reading of this part 2 of the paper,some crucial mathematical notations,definitions and results of part 1 have been repeated,thereby making the contents as self-contained as possible.展开更多
Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectiv...Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.展开更多
The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model struc...The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model structure is only partially known and its parameters present uncertainties.The current paper extends the classical exact feedback linearization to the robust feedback linearization by adding an appropriatelydesigned robust control layer.This is then able to ensure robust stability and robust performance for the given uncertain system in a desired region of attraction.We consider the case of full relative degree input-affine nonlinear systems,which are of great practical importance in the literature.The inner loop contains the feedback linearization input for the nominal system and the resulting residual nonlinearities can always be characterized as inverse additive uncertainties.The constructive proofs provide exact representations of the uncertainty models in three considered scenarios:unmatched,fully-matched,and partially-matched uncertainties.The uncertainty model will be a descriptor system,which also represents one of the novelties of the paper.Our approach leads to a simplified control structure and a less conservative coverage of the uncertainty set compared to current alternatives.The end-to-end procedure is emphasized on an illustrative example,in two different hypotheses.展开更多
现有电力负荷预测方法面临诸多挑战,尤其是在考虑气象因素对负荷波动的影响时,传统方法往往忽视气象特征与负荷之间复杂的非线性关系,导致预测精度不足。对此文中提出一种基于气象相似日修正(meteorological similar day correction,MS...现有电力负荷预测方法面临诸多挑战,尤其是在考虑气象因素对负荷波动的影响时,传统方法往往忽视气象特征与负荷之间复杂的非线性关系,导致预测精度不足。对此文中提出一种基于气象相似日修正(meteorological similar day correction,MSDC)和改进鹦鹉优化(improved parrot optimizer,IPO)线性分解(decomposition-based linear,DLinear)的日前电力负荷预测模型。首先运用Logistic映射、自适应变异策略、螺旋波动搜索IPO对DLinear超参数进行优化,然后由DLinear提取数据的周期性和趋势性特征,最后通过比对气象特征欧氏距离修正负荷预测值,形成基于IPO-DLinear-MSDC的日前电力负荷预测模型。采用2024年6月至10月湖南株洲地区总电力负荷数据集进行仿真分析,IPO-DLinear-MSDC模型的输出平均绝对百分比误差(mean absolute percentage error,MAPE)、决定系数R2分别为4.67%、0.833,相较于IPO-DLinear与PO-DLinear模型,MAPE分别下降了0.83个百分点、1.43个百分点,R2分别提升了0.074、0.125。展开更多
In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a lar...In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.展开更多
Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol ...Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).展开更多
Dear Editor,This letter investigates the fuzzy prescribed-time control(PTC)problem for a class of uncertain pure feedback nonlinear systems.Firstly,a novel prescribed-time stability lemma is introduced,which plays a c...Dear Editor,This letter investigates the fuzzy prescribed-time control(PTC)problem for a class of uncertain pure feedback nonlinear systems.Firstly,a novel prescribed-time stability lemma is introduced,which plays a critical role in stability analysis.Unlike existing PTC algorithms,where the nonlinear functions are typically known or satisfy a linear growth condition,our approach does not require such assumptions.To address these unknown factors,fuzzy logic systems(FLSs)are employed.Based on the new prescribed-time stability lemma,it is proven that the controller and all system states converge to the origin within the prescribed time and remain there.Finally,the effectiveness of the proposed algorithm is validated through a simulation example.展开更多
In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introduc...In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introducing only one additional evaluation of the function in each step.Furthermore,some new efficient methods with a higher-order of convergence are obtained by using only a single matrix inversion in each iteration.Analyses of convergence properties and computational efficiency of these new methods are made and testified by several numerical problems.By comparison,the new schemes are more efficient than the corresponding existing ones,particularly for large problem sizes.展开更多
Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levi...Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levitation control algorithm based on adaptive sliding mode control(ASMC)equipped with linear extended state observer(LESO).Sufficient conditions are derived to guarantee the asymptotical stability of the associated closed-loop system.Experiments are conducted on a real AMB-rotor platform to demonstrate the effectiveness and superiority of the proposed algorithm.展开更多
The stabilization problem of second-order bilinear systems with time delay is investigated.Feedback controls are chosen so that the strong and exponential stabilization of the system is ensured.The obtained results ar...The stabilization problem of second-order bilinear systems with time delay is investigated.Feedback controls are chosen so that the strong and exponential stabilization of the system is ensured.The obtained results are illustrated by wave and beam equations with simulation.展开更多
In this paper,we investigate the semi-global robust output regulation problem of a class of nonlinear networked control systems.By the emulation approach,we propose a class of sampled-data output feedback control laws...In this paper,we investigate the semi-global robust output regulation problem of a class of nonlinear networked control systems.By the emulation approach,we propose a class of sampled-data output feedback control laws to solve this problem.In particular,we first develop a general sampled-data dynamic output feedback control law and characterize the closed-loop system by a hybrid system.Then,we design the internal model based on the sampled error output of the system.Based on the internal model principle,we convert the semi-global robust output regulation problem into a semi-global robust stabilization problem of an augmented hybrid system composed of the internal model and the original system.By proposing the sampled error output feedback control law and by means of Lyapunov analysis,we obtain the maximum allowable transmission interval for sampling and show that semi-global robust stabilization of the augmented hybrid system can be achieved by the proposed sampled-data control law and thus leading to the solution of the semi-global robust output regulation problem.Finally,we apply the proposed control approach to two practical applications to verify the effectiveness of the proposed control approach.展开更多
Piecewise linear systems are prevalent in engineering practice,and can be categorized into symmetric and asymmetric piecewise linear systems.Considering that symmetry is a special case of asymmetry,it is essential to ...Piecewise linear systems are prevalent in engineering practice,and can be categorized into symmetric and asymmetric piecewise linear systems.Considering that symmetry is a special case of asymmetry,it is essential to investigate the broader model,namely the asymmetric piecewise linear system.The traditional averaging method is frequently used for studying nonlinear systems,particularly symmetric piecewise linear systems,with the harmonic response of the oscillator serving as a key prerequisite for calculating steady-state solutions.However,asymmetric systems inherently exhibit nonharmonic,asymmetric responses,rendering the traditional averaging method inapplicable.To overcome this limitation,this paper introduces an improved averaging method tailored for an oscillator characterized by asymmetric gaps and springs.Unlike the traditional method,which assumes a purely harmonic response,the improved averaging method redefines the system response as a superposition of a direct current(DC)term and a first harmonic component.Herein,the DC term can be regarded as the offset induced by model asymmetry.Furthermore,the DC term is treated as a slow variable function of time,with its time derivative assumed to be zero when calculating the steady-state solution,akin to the amplitude and phase in the traditional averaging method.Numerical validation demonstrates that the responses computed in both time and frequency domains with the improved averaging method exhibit greater accuracy compared with those derived from the traditional method.Leveraging these improved results,the study also examines the parameter effect,stability,and bifurcation phenomena within the amplitude-frequency responses.展开更多
Optical synapses have an ability to perceive and remember visual information,making them expected to provide more intelligent and efficient visual solutions for humans.As a new type of artificial visual sensory device...Optical synapses have an ability to perceive and remember visual information,making them expected to provide more intelligent and efficient visual solutions for humans.As a new type of artificial visual sensory devices,photoelectric memristors can fully simulate synaptic performance and have great prospects in the development of biological vision.However,due to the urgent problems of nonlinear conductance and high-energy consumption,its further application in high-precision control scenarios and integration is hindered.In this work,we report an optoelectronic memristor with a structure of TiN/CeO_(2)/ZnO/ITO/Mica,which can achieve minimal energy consumption(187 pJ)at a single pulse(0.5 V,5 ms).Under the stimulation of continuous pulses,linearity can be achieved up to 99.6%.In addition,the device has a variety of synaptic functions under the combined action of photoelectric,which can be used for advanced vision.By utilizing its typical long-term memory characteristics,we achieved image recognition and long-term memory in a 3×3 synaptic array and further achieved female facial feature extraction behavior with an activation rate of over 92%.Moreover,we also use the linear response characteristic of the device to design and implement the night meeting behavior of autonomous vehicles based on the hardware platform.This work highlights the potential of photoelectric memristors for advancing neuromorphic vision systems,offering a new direction for bionic eyes and visual automation technology.展开更多
基金supported by the Science Center Program of National Natural Science Foundation of China under Grant 62188101the National Natural Science Foundation of China under Grant 62573265.
文摘This study develops an event-triggered control strategy utilizing the fully actuated system approach for nonlinear interconnected large-scale systems containing actuator failures.First,to reduce the complexity of the design process,we transform the studied system into the form of a fully actuated system through a state transformation.Then,to address the unknown nonlinear functions and actuator fault parameters,we employ neural networks and adaptive estimation techniques,respectively.Moreover,to reduce the control cost and improve the control efficiency,we introduce event-triggered inputs into the control strategy.It is proved by the Lyapunov stability analysis that all signals of the closed-loop system are bounded and the output of system eventually converge to a bounded region.The efficacy of the control approach is ultimately demonstrated via the simulation of an actual machine feeding system.
基金supported in part by the National Science and Technology Council under Grant NSTC 114-2221-E-027-104.
文摘Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.
基金supported in part by the National Natural Science Foundation of China(62473221)the Natural Science Foundation of Shandong Province,China(ZR2024MF006)Qingdao Natural Science Foundation(24-4-4-zrjj-165-jch)。
文摘This paper is concerned with event-triggered control of discrete-time systems with or without input saturation.First,an accumulative-error-based event-triggered scheme is devised for control updates.When the accumulated error between the current state and the latest control update exceeds a certain threshold,an event is triggered.Such a scheme can ensure the event-generator works at a relatively low rate rather than falls into hibernation especially after the system steps into its steady state.Second,the looped functional method for continuous-time systems is extended to discrete-time systems.By introducing an innovative looped functional that links the event-triggered scheme,some sufficient conditions for the co-design of control gain and event-triggered parameters are obtained in terms of linear matrix inequalities with a couple of tuning parameters.Then,the proposed method is applied to discrete-time systems with input saturation.As a result,both suitable control gains and event-triggered parameters are also co-designed to ensure the system trajectories converge to the region of attraction.Finally,an unstable reactor system and an inverted pendulum system are given to show the effectiveness of the proposed method.
基金supported in part by the National Natural Science Foundation of China(62322311,62303162,62233007,62203157)the Technology Development Program of Henan Province(242102211052).
文摘Dear Editor,In this letter,several novel controllability results for a class of linear switched and impulsive systems are established.Different from the developed controllability conditions in most existing literature,the important role of switched and impulsive time sequence is considered.Applying the relevant geometric theory of matrix,a necessary and sufficient criterion for the controllability is firstly developed to judge when the controllability of such systems is affected by switched and impulsive time sequence.Furthermore,we further obtain a sufficient controllability condition that can be used to verify the controllability of such systems regardless of the switched and impulsive time sequence.Finally,a numerical example is given to verify the obtained theoretical results.
基金supported in part by the National Natural Science Foundation of China(62373089).
文摘It is a challenging issue to obtain the minimum amplitude control for linear systems subject to amplitudebounded disturbances.The difficulty is how to accurately give the quantitative relationship between the system H∞norm and control parameters.An optimal-Lyapunov-function-based controller design concept is proposed,and a minimum amplitude control scheme is presented under amplitude-bounded disturbances.Firstly,the optimal Lyapunov function is proposed by analyzing the geometric characteristics of the system H∞norm,and the necessary and sufficient condition of the optimal Lyapunov function parameter matrix is given.Secondly,the optimal Lyapunov function parameter matrix is constructed in the parameterized matrix equation,and the accurate quantitative relationship between the system H∞norm and control parameters is given.Finally,the control parameter optimization method is proposed according to the quantitative relationship between the system H∞norm and control parameters.Unlike robust optimization control methods,the presented minimum amplitude control scheme avoids the improper selection of the Lyapunov function in the controller design,and provides a novel way to design the minimum amplitude control under the given control accuracy.A buck converter example is given to illustrate the effectiveness and practicability of the presented scheme.
文摘Differential inequalities generated in an extended Lyapunov framework are employed in the stability and instability analyses of a class of switched continuous-time second-and higher order linear systems with an arbitrary number of switching matrices.The exponential stability and instability(ESI)conditions so obtained involve the supremum and infimum of ratios of certain quadratic forms of the matrices,leading to global time-averages of their activity intervals.Further,motivated by linear switching system examples of(i)instability with stable matrices and(ii)stability with unstable matrices(found in the literature primarily for second-order systems),the proposed framework is generalized to establish ESI conditions that include both the activity intervals of the matrices and their switching rates,the latter being governed by a certain logarithmic measure of the normalized magnitudes of discontinuities caused by switching.In effect,(the new,globally averaged)dwell-time is flexibly traded,apparently for the first time,but under specific conditions(related,in part,to the eigenvalues of the matrices),for switching discontinuity-based conditions.Two further novel aspects of the proposed approach are:(i)For second-order matrices,switching lines in phase space can be chosen for periodic switching to stabilize or destabilize the system,and even generate oscillations,depending on the eigenvalues of the system matrices.But for third-(and higher)order matrices,such an analytically tractable(and controlled)periodical switching entails solution of an explicit non-convex multi-parameter optimization problem for which a stochastic optimization algorithm from the literature can be invoked.(ii)Lower and upper bounds on the solutions of the system equations can be quantified to reflect the stability/instability/oscillatory property of the system.Illustrative examples,which demonstrate the novelty of the derived stability and instability conditions,are presented in part 2 which is advisedly to be read along with this part 1 for a coherent merging of theory with practice.
基金supported in part by the National Natural Science Foundation of China(62222310,61973131,62473379)the National Key Research and Develepment Program of China(2024YFB3310701)+1 种基金the Research Fund for the Taishan Scholar Project of Shandong Province of China,the Major Basic Research of Natural Science Foundation of Shandong Province(ZR2024ZD38,ZR2022ZD34)the Japan Society for the Promotion of Science(21K04129).
文摘Switched linear parameter varying(LPV)systems have,in recent years,inspired a great number of research endeavors owing to their excellent ability to approximate nonlinear systems and handle complex hybrid dynamics in system analysis and synthesis.Nevertheless,numerous difficulties and challenges are also encountered due to the reciprocal effects of switching signals and scheduling parameters in the analysis and synthesis of switched LPV systems.In this paper,the standard description and specific characteristics of switched LPV systems are first introduced.Then,the main methodologies are proposed in the literature to cope with stability and performance analysis,control synthesis,as well as fault diagnosis and fault-tolerant control issues,and the typical applications in various fields are surveyed.Finally,several key open problems and current research activities are also discussed to elucidate the potential research directions in the future.
文摘In this second part of the paper,bearing the same title as above,but with the last hyphenated phrase replaced by part 1(Theory),the exponential stability and instability(ESI)Theorems 1–4 of part 1 are illustrated by applying them to second-andby,say,third-order linear switched systems with different eigenvalue structures to demonstrate the versatility,novelty and superiority(over many of the results found in the literature,especially for second-order switched lined systems)of the new theoretical results.The computational procedure that is employed with reference to the third-order systems is generic,in the sense that it is applicable to higher(i.e.,greater than third-)order linear switched systems.A pseudo-code for a computer implementation of the stability/instability conditions is also presented.With the principal aim of facilitating an independent reading of this part 2 of the paper,some crucial mathematical notations,definitions and results of part 1 have been repeated,thereby making the contents as self-contained as possible.
基金supported in part by the National Natural Science Foundation of China(62173255,62188101)Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)
文摘Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.
基金funded by the project new smart and adaptive robotics solutions for personalized minimally invasive surgery in cancer treatment−ATHENA,European Union-NextGenerationEU and Romanian Government,under National Recovery and Resilience Plan for Romania(CF116/15.11.2022)through the Romanian Ministry of Research,Innovation and Digitalization(within Component 9,investment I8)。
文摘The exact feedback linearization method implies an accurate knowledge of the model and its parameters.This assumption is an inherent limitation of the method,suffering from robustness issues.In general,the model structure is only partially known and its parameters present uncertainties.The current paper extends the classical exact feedback linearization to the robust feedback linearization by adding an appropriatelydesigned robust control layer.This is then able to ensure robust stability and robust performance for the given uncertain system in a desired region of attraction.We consider the case of full relative degree input-affine nonlinear systems,which are of great practical importance in the literature.The inner loop contains the feedback linearization input for the nominal system and the resulting residual nonlinearities can always be characterized as inverse additive uncertainties.The constructive proofs provide exact representations of the uncertainty models in three considered scenarios:unmatched,fully-matched,and partially-matched uncertainties.The uncertainty model will be a descriptor system,which also represents one of the novelties of the paper.Our approach leads to a simplified control structure and a less conservative coverage of the uncertainty set compared to current alternatives.The end-to-end procedure is emphasized on an illustrative example,in two different hypotheses.
文摘现有电力负荷预测方法面临诸多挑战,尤其是在考虑气象因素对负荷波动的影响时,传统方法往往忽视气象特征与负荷之间复杂的非线性关系,导致预测精度不足。对此文中提出一种基于气象相似日修正(meteorological similar day correction,MSDC)和改进鹦鹉优化(improved parrot optimizer,IPO)线性分解(decomposition-based linear,DLinear)的日前电力负荷预测模型。首先运用Logistic映射、自适应变异策略、螺旋波动搜索IPO对DLinear超参数进行优化,然后由DLinear提取数据的周期性和趋势性特征,最后通过比对气象特征欧氏距离修正负荷预测值,形成基于IPO-DLinear-MSDC的日前电力负荷预测模型。采用2024年6月至10月湖南株洲地区总电力负荷数据集进行仿真分析,IPO-DLinear-MSDC模型的输出平均绝对百分比误差(mean absolute percentage error,MAPE)、决定系数R2分别为4.67%、0.833,相较于IPO-DLinear与PO-DLinear模型,MAPE分别下降了0.83个百分点、1.43个百分点,R2分别提升了0.074、0.125。
基金supported in part by the National Natural Science Foundation of China(62473142,62203161)Special Funding Support for the Construction of Innovative Provinces in Hunan Province(2021GK1010)+1 种基金Guangdong Basic and Applied Basic Research Foundation(2024A1515011579),Project of State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle(72275007).
文摘In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.
基金supported by the National Nature Science Foundation of China(U21A20166)the Science and Technology Development Foundation of Jilin Province(20230508095RC)+2 种基金the Major Science and Technology Projects of Jilin Province and Changchun City(20220301033GX)the Development and Reform Commission Foundation of Jilin Province(2023C034-3)the Interdisciplinary Integration and Innovation Project of JLU(JLUXKJC2020202).
文摘Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).
基金supported by the National Natural Science Foundation of China(U20A20187,U22A2050)the Science Fund of Hebei Province(F2024203134,F2023203100)+3 种基金the Science and Technology Development Grant of Hebei Province(20311803D)Hebei Innovation Capability Improvement Plan project(22567619H)Basic Research Project of Shijiazhuang(241791007A)the China Scholarship Council(CSC 202308130190).
文摘Dear Editor,This letter investigates the fuzzy prescribed-time control(PTC)problem for a class of uncertain pure feedback nonlinear systems.Firstly,a novel prescribed-time stability lemma is introduced,which plays a critical role in stability analysis.Unlike existing PTC algorithms,where the nonlinear functions are typically known or satisfy a linear growth condition,our approach does not require such assumptions.To address these unknown factors,fuzzy logic systems(FLSs)are employed.Based on the new prescribed-time stability lemma,it is proven that the controller and all system states converge to the origin within the prescribed time and remain there.Finally,the effectiveness of the proposed algorithm is validated through a simulation example.
基金Supported by the National Natural Science Foundation of China(12061048)NSF of Jiangxi Province(20232BAB201026,20232BAB201018)。
文摘In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introducing only one additional evaluation of the function in each step.Furthermore,some new efficient methods with a higher-order of convergence are obtained by using only a single matrix inversion in each iteration.Analyses of convergence properties and computational efficiency of these new methods are made and testified by several numerical problems.By comparison,the new schemes are more efficient than the corresponding existing ones,particularly for large problem sizes.
基金supported in part by the National Natural Science Foundation of China(62225306,U2141235,52188102).
文摘Dear Editor,Active magnetic bearings(AMBs)are of considerable interest and significance in smart manufacturing due to their zero-friction and adaptivity to noncontact rotor rotations.This paper proposes an active levitation control algorithm based on adaptive sliding mode control(ASMC)equipped with linear extended state observer(LESO).Sufficient conditions are derived to guarantee the asymptotical stability of the associated closed-loop system.Experiments are conducted on a real AMB-rotor platform to demonstrate the effectiveness and superiority of the proposed algorithm.
文摘The stabilization problem of second-order bilinear systems with time delay is investigated.Feedback controls are chosen so that the strong and exponential stabilization of the system is ensured.The obtained results are illustrated by wave and beam equations with simulation.
基金supported in part by the National Science and Technology Major Project(2021ZD0112600)the National Natural Science Foundation of China(62373058),Beijing Natural Science Foundation(L233003)+1 种基金the National Science Fund for Distinguished Young Scholars of China(62025301)the Basic Science Center Programs of National Nature Science Foundation of China(62088101).
文摘In this paper,we investigate the semi-global robust output regulation problem of a class of nonlinear networked control systems.By the emulation approach,we propose a class of sampled-data output feedback control laws to solve this problem.In particular,we first develop a general sampled-data dynamic output feedback control law and characterize the closed-loop system by a hybrid system.Then,we design the internal model based on the sampled error output of the system.Based on the internal model principle,we convert the semi-global robust output regulation problem into a semi-global robust stabilization problem of an augmented hybrid system composed of the internal model and the original system.By proposing the sampled error output feedback control law and by means of Lyapunov analysis,we obtain the maximum allowable transmission interval for sampling and show that semi-global robust stabilization of the augmented hybrid system can be achieved by the proposed sampled-data control law and thus leading to the solution of the semi-global robust output regulation problem.Finally,we apply the proposed control approach to two practical applications to verify the effectiveness of the proposed control approach.
基金Project supported by the National Natural Science Foundation of China(Nos.12272242 and U1934201)。
文摘Piecewise linear systems are prevalent in engineering practice,and can be categorized into symmetric and asymmetric piecewise linear systems.Considering that symmetry is a special case of asymmetry,it is essential to investigate the broader model,namely the asymmetric piecewise linear system.The traditional averaging method is frequently used for studying nonlinear systems,particularly symmetric piecewise linear systems,with the harmonic response of the oscillator serving as a key prerequisite for calculating steady-state solutions.However,asymmetric systems inherently exhibit nonharmonic,asymmetric responses,rendering the traditional averaging method inapplicable.To overcome this limitation,this paper introduces an improved averaging method tailored for an oscillator characterized by asymmetric gaps and springs.Unlike the traditional method,which assumes a purely harmonic response,the improved averaging method redefines the system response as a superposition of a direct current(DC)term and a first harmonic component.Herein,the DC term can be regarded as the offset induced by model asymmetry.Furthermore,the DC term is treated as a slow variable function of time,with its time derivative assumed to be zero when calculating the steady-state solution,akin to the amplitude and phase in the traditional averaging method.Numerical validation demonstrates that the responses computed in both time and frequency domains with the improved averaging method exhibit greater accuracy compared with those derived from the traditional method.Leveraging these improved results,the study also examines the parameter effect,stability,and bifurcation phenomena within the amplitude-frequency responses.
基金supported by Science and Technology Project of Hebei Education Department(grant no.QN2023092)High-level Talent Research Startup Project of Hebei University(grant no.521100221071,521000981426,521100223225)+17 种基金National Key R&D Plan"Nano Frontier"Key Special Project(Grant Nos.2024YFA1208400,2021YFA1200502)National Key R&D Program Disruptive Technology Innovation Project(Grant No.2024YFF1504300)National Natural Science Foundation of China(Grant Nos.62004056,62104058,Grant No.61874158)National Major R&D Project Cultivation Projects(Grant No.92164109)Natural Science Foundation of Hebei Province(Grant Nos.F2021201045,F2021201022,F2022201054,F2023201044,F2022201002)Special Support Funds for National High-Level Talents(Grant No.041500120001)Hebei Province Yanzhao Young Scientist Project(Grant No.F2023201076)Support Program for the Top Young Talents of Hebei Province(Grant No.70280011807)Hebei Province High-Level Talent Funding Project(Grant No.B20231003)Strategic Leading Science and Technology Special Project of Chinese Academy of Sciences(Grant No.XDB44000000-7)Interdisciplinary Research Program of Natural Science of Hebei University(Grant No.DXK202101)Institute of Life Sciences and Green Development(Grant No.521100311)Outstanding Young Scientific Research and Innovation Team of Hebei University(Grant No.605020521001)Advanced Talents Incubation Program of Hebei University(Grant Nos.521000981426,521100221071,521100224232,521000981363)Science and Technology Project of Hebei Education Department(Grant Nos.QN2020178,QN2021026)Baoding Science and Technology Plan Project(Grant No.2172P011)Hebei Province Key R&D Plan Projects(Grant No.22311101D)Baoding Science and Technology Plan Project(Grant No.2272P014)Regional Innovation and Development Joint Fund Key Project(Grant No.U23A20365)Hebei Province Natural Science Foundation(Grant No.F2023201044).
文摘Optical synapses have an ability to perceive and remember visual information,making them expected to provide more intelligent and efficient visual solutions for humans.As a new type of artificial visual sensory devices,photoelectric memristors can fully simulate synaptic performance and have great prospects in the development of biological vision.However,due to the urgent problems of nonlinear conductance and high-energy consumption,its further application in high-precision control scenarios and integration is hindered.In this work,we report an optoelectronic memristor with a structure of TiN/CeO_(2)/ZnO/ITO/Mica,which can achieve minimal energy consumption(187 pJ)at a single pulse(0.5 V,5 ms).Under the stimulation of continuous pulses,linearity can be achieved up to 99.6%.In addition,the device has a variety of synaptic functions under the combined action of photoelectric,which can be used for advanced vision.By utilizing its typical long-term memory characteristics,we achieved image recognition and long-term memory in a 3×3 synaptic array and further achieved female facial feature extraction behavior with an activation rate of over 92%.Moreover,we also use the linear response characteristic of the device to design and implement the night meeting behavior of autonomous vehicles based on the hardware platform.This work highlights the potential of photoelectric memristors for advancing neuromorphic vision systems,offering a new direction for bionic eyes and visual automation technology.
