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
针对光伏系统输出功率受环境影响而呈现的非线性时变特性,以及难以稳定跟踪最大功率点(maximum power point,MPP)的问题,提出一种基于粒子群优化算法(particle swarm optimization,PSO)来优化收敛因子的光伏最大功率鲁棒控制器设计方法...针对光伏系统输出功率受环境影响而呈现的非线性时变特性,以及难以稳定跟踪最大功率点(maximum power point,MPP)的问题,提出一种基于粒子群优化算法(particle swarm optimization,PSO)来优化收敛因子的光伏最大功率鲁棒控制器设计方法。通过建立光伏阵列数学模型,引入自适应调整的学习因子与惯性权重以优化PSO算法,从而增强其全局搜索能力。同时,结合鲁棒控制理论构建H∞控制器以抑制外部扰动,并通过线性矩阵不等式配置系统极点以提升鲁棒性。实验结果表明,在局部遮挡条件下,该方法能够在0.25秒内快速跟踪到MPP,电压稳定在328 V,并且在干扰后状态变量能够迅速恢复稳定,震荡幅度降低约40%。该控制器显著提升了光伏系统在复杂环境下的动态响应与抗干扰能力,为高效、稳定的光伏发电运行提供了可靠的解决方案。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, 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
This paper is concerned with the adaptive robust cubature Kalman filtering problem for the case that the dynamics model error and the measurement model error exist simultaneously in the satellite attitude estimation s...This paper is concerned with the adaptive robust cubature Kalman filtering problem for the case that the dynamics model error and the measurement model error exist simultaneously in the satellite attitude estimation system. By using Hubel-based robust filtering methodology to correct the measurement covariance formulation of cubature Kalman filter, the proposed filtering algorithm could effectively suppress the measurement model error. To further enhance this effect and reduce the impact of the dynamics model error, two different adaptively robust filtering algorithms,one with the optimal adaptive factor based on the estimated covariance matrix of the predicted residuals and the other with multiple fading factors based on strong tracking algorithm, are developed and applied for the satellite attitude estimation. The quaternion is employed to represent the global attitude parameter, and three-dimensional generalized Rodrigues parameters are introduced to define the local attitude error. A multiplicative quaternion error is derived from the local attitude error to maintain quaternion normalization constraint in the filter. Simulation results indicate that the proposed novel algorithm could exhibit higher accuracy and faster convergence compared with the multiplicative extended Kalman filter, the unscented quaternion estimator, and the adaptive robust unscented Kalman filter.展开更多
Digital Watermarking is a technology, to facilitate the authentication, copyright protection and Security of digital media. The objective of developing a robust watermarking technique is to incorporate the maximum pos...Digital Watermarking is a technology, to facilitate the authentication, copyright protection and Security of digital media. The objective of developing a robust watermarking technique is to incorporate the maximum possible robustness without compromising with the transparency. Singular Value Decomposition (SVD) using Firefly Algorithm provides this objective of an optimal robust watermarking technique. Multiple scaling factors are used to embed the watermark image into the host by multiplying these scaling factors with the Singular Values (SV) of the host audio. Firefly Algorithm is used to optimise the modified host audio to achieve the highest possible robustness and transparency. This approach can significantly increase the quality of watermarked audio and provide more robustness to the embedded watermark against various attacks such as noise, resampling, filtering attacks etc.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.
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.
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.
基金co-supported by the National Natural Science Foundation of China (No. 61573113)the Harbin Research Foundation for Leaders of Outstanding Disciplines, China (No. 2014RFXXJ074)
文摘This paper is concerned with the adaptive robust cubature Kalman filtering problem for the case that the dynamics model error and the measurement model error exist simultaneously in the satellite attitude estimation system. By using Hubel-based robust filtering methodology to correct the measurement covariance formulation of cubature Kalman filter, the proposed filtering algorithm could effectively suppress the measurement model error. To further enhance this effect and reduce the impact of the dynamics model error, two different adaptively robust filtering algorithms,one with the optimal adaptive factor based on the estimated covariance matrix of the predicted residuals and the other with multiple fading factors based on strong tracking algorithm, are developed and applied for the satellite attitude estimation. The quaternion is employed to represent the global attitude parameter, and three-dimensional generalized Rodrigues parameters are introduced to define the local attitude error. A multiplicative quaternion error is derived from the local attitude error to maintain quaternion normalization constraint in the filter. Simulation results indicate that the proposed novel algorithm could exhibit higher accuracy and faster convergence compared with the multiplicative extended Kalman filter, the unscented quaternion estimator, and the adaptive robust unscented Kalman filter.
文摘Digital Watermarking is a technology, to facilitate the authentication, copyright protection and Security of digital media. The objective of developing a robust watermarking technique is to incorporate the maximum possible robustness without compromising with the transparency. Singular Value Decomposition (SVD) using Firefly Algorithm provides this objective of an optimal robust watermarking technique. Multiple scaling factors are used to embed the watermark image into the host by multiplying these scaling factors with the Singular Values (SV) of the host audio. Firefly Algorithm is used to optimise the modified host audio to achieve the highest possible robustness and transparency. This approach can significantly increase the quality of watermarked audio and provide more robustness to the embedded watermark against various attacks such as noise, resampling, filtering attacks etc.
文摘针对GNSS/INS组合导航进行解算时,容积卡尔曼滤波(cubature Kalman filter,CKF)中状态协方差阵非正定导致滤波发散和观测值异常时组合导航鲁棒性差的问题,本文提出了基于卡方检验改进自适应鲁棒SVDCKF算法。该算法使用奇异值分解(singular value decomposition,SVD)代替CKF中的Cholesky分解,提高了状态协方差矩阵分解迭代的稳定性;利用卡方检验和马氏距离准则构造观测异常检验门限,当观测值异常时通过抗差因子对量测噪声进行调节。车载实测数据实验结果表明,在观测值异常的情况下,该算法的导航定位精度相较于SVDCKF算法和Sage-Husa自适应SVDCKF算法分别提升了27.73%和3.27%,提高了组合导航系统的鲁棒性。
