Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t...Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.展开更多
The robust control law for gas tungsten arc welding dynamic process, which is a typical sampled-data system and full of uncertainties, is presented. By using the Lyapunov, second method, the robust control and robust ...The robust control law for gas tungsten arc welding dynamic process, which is a typical sampled-data system and full of uncertainties, is presented. By using the Lyapunov, second method, the robust control and robust optimal control for a class of sampled-data systems whose underlying continuous-time systems are subjected to structured uncertainties are discussed in time-domain. As a result, some sufficient conditions of robust stability and the corresponding robust control laws are derived. All these results are designed by solving a class of linear matrix inequalities （LMIs） and a class of dynamic optimization problem with LMIs constraints respectively. An example adapted under some experimental conditions in the dynamic process of gas tungsten arc welding system in which the controlled variable is the backside width of weld pool and controlling variable pulse duty ratio, is worked out to illustrate the proposed results, it is shown that the sampling period is the crucial design oarameter.展开更多
We scrutinize the problem of robust H∞control for a class of Markovian jump uncertain systems with interval timevarying and distributed delays. The Markovian jumping parameters are modeled as a continuous-time finite...We scrutinize the problem of robust H∞control for a class of Markovian jump uncertain systems with interval timevarying and distributed delays. The Markovian jumping parameters are modeled as a continuous-time finite-state Markov chain. The main aim is to design a delay-dependent robust H∞control synthesis which ensures the mean-square asymptotic stability of the equilibrium point. By constructing a suitable Lyapunov–Krasovskii functional（LKF）, sufficient conditions for delay-dependent robust H∞control criteria are obtained in terms of linear matrix inequalities（LMIs）. The advantage of the proposed method is illustrated by numerical examples. The results are also compared with the existing results to show the less conservativeness.展开更多
Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic syste...Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.展开更多
This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic...This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic response will be governed by time-varying aerodynamic forces and moments. Nonlinear dynamic equations of the morphing aircraft are linearized by using Jacobian linearization approach, and a linear parameter varying （LPV） model of the morphing aircraft in wing folding is obtained. A multi-loop controller for the morphing aircraft is formulated to guarantee stability for the wing shape transition process. The proposed controller uses a set of inner-loop gains to provide stability using classical techniques, whereas a gain self-scheduled H 1 outer-loop controller is devised to guarantee a specific level of robust stability and performance for the time-varying dynamics. The closed-loop simulations show that speed and altitude vary slightly during the whole wing folding process, and they converge rapidly after the process ends. This proves that the gain self-scheduled H 1 robust controller can guarantee a satisfactory dynamic performance for the morphing aircraft during the whole wing shape transition process. Finally, the flight control system＇s robustness for the wing folding process is verified according to uncertainties of the aerodynamic parameters in the nonlinear model.展开更多
This paper focuses on the linear transceiver design for multiple input multiple output（MIMO） interference channel（IC）, in which a bounded channel error model is assumed. Two optimization problems are formulated as...This paper focuses on the linear transceiver design for multiple input multiple output（MIMO） interference channel（IC）, in which a bounded channel error model is assumed. Two optimization problems are formulated as minimizing maximum per-user mean square error（MSE） and sum MSE with the per-transmitter power constraint. Since these optimization problems are not jointly convex on their variable matrices, the transmitter and receiver can be optimized alternately respectively. For each matrix, an approximated approach is presented where the upper bound of constraint is derived so that it has less semidefinite, thus the problem can be viewed as second-order-cone programming（SOCP） and gets less computational complexity. Compared with the conventional S-procedure method, the proposed approach achieves similar performance, but reduces the complexity significantly, especially for the system with large scale number of antennas.展开更多
This paper proposes a novel method for transmission network expansion planning(TNEP)that take into account uncertainties in loads and renewable energy resources.The goal of TNEP is to minimize the expansion cost of ca...This paper proposes a novel method for transmission network expansion planning(TNEP)that take into account uncertainties in loads and renewable energy resources.The goal of TNEP is to minimize the expansion cost of candidate lines without any load curtailment.A robust linear optimization algorithm is adopted to minimize the load curtailment with uncertainties considered under feasible expansion costs.Hence,the optimal planning scheme obtained through an iterative process would be to serve loads and provide a sufficient margin for renewable energy integration.In this paper,two uncertainty budget parameters are introduced in the optimization process to limit the considered variation ranges for both the load and the renewable generation.Simulation results obtained from two test systems indicate that the uncertainty budget parameters used to describe uncertainties are essential to arrive at a compromise for the robustness and optimality,and hence,offer a range of preferences to power system planners and decision makers.展开更多
基金National Science Fund for Distinguished Young Scholars (50825502)
文摘Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.
基金This project is supported by Doctor's Research Fund of Science Education Ministry of China(No.20060214004)Scientific Research Fund Education Ministry of China(No.206041)Scientific Research Fund of Harbin Sci-ence Bureau China(No.20051AAICG037).
文摘The robust control law for gas tungsten arc welding dynamic process, which is a typical sampled-data system and full of uncertainties, is presented. By using the Lyapunov, second method, the robust control and robust optimal control for a class of sampled-data systems whose underlying continuous-time systems are subjected to structured uncertainties are discussed in time-domain. As a result, some sufficient conditions of robust stability and the corresponding robust control laws are derived. All these results are designed by solving a class of linear matrix inequalities （LMIs） and a class of dynamic optimization problem with LMIs constraints respectively. An example adapted under some experimental conditions in the dynamic process of gas tungsten arc welding system in which the controlled variable is the backside width of weld pool and controlling variable pulse duty ratio, is worked out to illustrate the proposed results, it is shown that the sampling period is the crucial design oarameter.
基金Project supported by Department of Science and Technology(DST)under research project No.SR/FTP/MS-039/2011
文摘We scrutinize the problem of robust H∞control for a class of Markovian jump uncertain systems with interval timevarying and distributed delays. The Markovian jumping parameters are modeled as a continuous-time finite-state Markov chain. The main aim is to design a delay-dependent robust H∞control synthesis which ensures the mean-square asymptotic stability of the equilibrium point. By constructing a suitable Lyapunov–Krasovskii functional（LKF）, sufficient conditions for delay-dependent robust H∞control criteria are obtained in terms of linear matrix inequalities（LMIs）. The advantage of the proposed method is illustrated by numerical examples. The results are also compared with the existing results to show the less conservativeness.
文摘Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.
基金co-supported by China Postdoctoral Science Foundation(Nos.20110490259,2012T50038)
文摘This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic response will be governed by time-varying aerodynamic forces and moments. Nonlinear dynamic equations of the morphing aircraft are linearized by using Jacobian linearization approach, and a linear parameter varying （LPV） model of the morphing aircraft in wing folding is obtained. A multi-loop controller for the morphing aircraft is formulated to guarantee stability for the wing shape transition process. The proposed controller uses a set of inner-loop gains to provide stability using classical techniques, whereas a gain self-scheduled H 1 outer-loop controller is devised to guarantee a specific level of robust stability and performance for the time-varying dynamics. The closed-loop simulations show that speed and altitude vary slightly during the whole wing folding process, and they converge rapidly after the process ends. This proves that the gain self-scheduled H 1 robust controller can guarantee a satisfactory dynamic performance for the morphing aircraft during the whole wing shape transition process. Finally, the flight control system＇s robustness for the wing folding process is verified according to uncertainties of the aerodynamic parameters in the nonlinear model.
基金supported by the National Natural Science Foundation of China (61401270, 61271283)
文摘This paper focuses on the linear transceiver design for multiple input multiple output（MIMO） interference channel（IC）, in which a bounded channel error model is assumed. Two optimization problems are formulated as minimizing maximum per-user mean square error（MSE） and sum MSE with the per-transmitter power constraint. Since these optimization problems are not jointly convex on their variable matrices, the transmitter and receiver can be optimized alternately respectively. For each matrix, an approximated approach is presented where the upper bound of constraint is derived so that it has less semidefinite, thus the problem can be viewed as second-order-cone programming（SOCP） and gets less computational complexity. Compared with the conventional S-procedure method, the proposed approach achieves similar performance, but reduces the complexity significantly, especially for the system with large scale number of antennas.
基金supported by the National Basic Research Program of China(2012CB215106).
文摘This paper proposes a novel method for transmission network expansion planning(TNEP)that take into account uncertainties in loads and renewable energy resources.The goal of TNEP is to minimize the expansion cost of candidate lines without any load curtailment.A robust linear optimization algorithm is adopted to minimize the load curtailment with uncertainties considered under feasible expansion costs.Hence,the optimal planning scheme obtained through an iterative process would be to serve loads and provide a sufficient margin for renewable energy integration.In this paper,two uncertainty budget parameters are introduced in the optimization process to limit the considered variation ranges for both the load and the renewable generation.Simulation results obtained from two test systems indicate that the uncertainty budget parameters used to describe uncertainties are essential to arrive at a compromise for the robustness and optimality,and hence,offer a range of preferences to power system planners and decision makers.
