The robust control of spacecraft during approach for docking is studied by first giving the relative motion equations for trajectory and attitude coupling of two spacecraft and then accomplishing the control design of...The robust control of spacecraft during approach for docking is studied by first giving the relative motion equations for trajectory and attitude coupling of two spacecraft and then accomplishing the control design of the tracking vehicle using the feedback linearization method and the variable structure theory. Both theoretical analysis and simulation results indicate the robust controller proposed can guarantee non impact docking of two spacecraft even when the object vehicle is subjected to an external interference.展开更多
This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the co...This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the congestion-avoidance flow-control mode of transmission control protocol (TCP), we present delay control algorithms for active queue management (AQM) and discuss the parameter tuning of the algorithms. The NS (network simulator) simulation results show that the proposed control scheme for the nonlinear TCP/AQM model has good performance and robustness with respect to the uncertainties of the round-trip time (RTT) and the number of active TCP sessions. Compared to other similar schemes, our algorithms perform better in terms of packet loss ratio, throughput and butter fluctuation.展开更多
An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive f...An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm...In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm which was recently reported in literature.Stability analysis has been done to verify the suitability of the proposed structure for industrial processes.The proposed control strategy is applied to three different types of unstable processes including non-minimum phase and nonlinear systems.A comparative study ensures that the proposed scheme gives superior performance over the recently reported VSC system.Furthermore,the proposed method gives satisfactory results for a cart inverted pendulum system in the presence of external disturbance and noise.展开更多
The increasing demand on robotic system performance leads to the use of advanced control strategies. A variable structure model-following adaptive control design is presented for the nonlinear robot manipulator sys...The increasing demand on robotic system performance leads to the use of advanced control strategies. A variable structure model-following adaptive control design is presented for the nonlinear robot manipulator systems, when subjected to fast and wide ranges of unknown-but-bounded parameter variations and disturbances. The design does not require any knowledge of a nonlinear robotic system. The system is robust and insensitive to the parameter variation, disturbances, as well as to the unmodeled dynamics. This insensitive property enables the elimination of interactions among the various joints of the robotic manipulator. In the closed loop, the robotic system asymptotically converges to the reference trajectory with a Prescribed transient resPOnse. The problem of chattering is discussed with the introduction of the special approaches: boundary layer, smoothing law, and nonlinear compensation.展开更多
This paper presents a new method of smoothing control signal in control system of variable structure. Using the relationship between the gain of nonlinear term in the control signal and distance of the system states f...This paper presents a new method of smoothing control signal in control system of variable structure. Using the relationship between the gain of nonlinear term in the control signal and distance of the system states from the equivalent point, a saturating property with the variable width is adopted. The method not only reduces the chattering of the control signal but also decrees the steady-state error.展开更多
Based on the linearized model of the TCP connections through the congested routers, this paper puts forward an active queue management algorithm (FVS-T). The algorithm utilizes the fuzzy variable structure control alg...Based on the linearized model of the TCP connections through the congested routers, this paper puts forward an active queue management algorithm (FVS-T). The algorithm utilizes the fuzzy variable structure control algorithm with delay factor to compensate time varying round-trip times (RTT) and uncertainties with respect to the number of active TCP sessions. By analyzing the robustness and performance of the control scheme for the nonlinear TCP/AQM model, we show that the proposed design has good performance and robustness, which are central to the notion of AQM. Implementation issues were discussed and ns simulations were provided to validate the design and compare its performance to other peer schemes in different scenarios. The results show that the proposed design significantly outperforms the other congestion schemes in terms of packet loss ratio, throughput and buffer fluctuation.展开更多
Combining the characteristics of servo systems , tracking variable structure control law is studied. Two kinds of new variable control law , the generalized exponential approaching vari- able structure control law and...Combining the characteristics of servo systems , tracking variable structure control law is studied. Two kinds of new variable control law , the generalized exponential approaching vari- able structure control law and the integral variable structure control law are put forward for dis- crete time domain. Taking pump-controlled-motor rotational speed servo system for example , the experiment investigation and digital simulation of integral variable structure control law for dis- crete time domain are performed , the rightness of conclusions are verified.展开更多
This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed...This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed and a robust growing algorithm is developed to extract the underlying linear structure of the observed data.Under the structural density assumption,the C-step technique borrowed from the Rousseeuw＇s robust MCD estimator is used to keep the algorithm robust and the mean-shift algorithm is adopted to ensure a good initialization.To eliminate the model ambiguities of the multiple-structural data,statistical hypotheses tests are used to refine the data classification and improve the accuracy of the model parameter estimation.Experiments show that the efficiency and robustness of the proposed algorithm.展开更多
An approach is proposed to analyze pole assignment robustness in some specific regions for linear variable structure control systems subject to structured perturbations.A sufficient condition of robustness is presente...An approach is proposed to analyze pole assignment robustness in some specific regions for linear variable structure control systems subject to structured perturbations.A sufficient condition of robustness is presented and the upper bound of structured perturbations which ensure the robustness is computed by numerical analysis.展开更多
A variable structure based control scheme was proposed for Active Queue Management(AQM) by using sliding model algorithm and reach law method. This approach aims to address the tradeoff between good performance and ro...A variable structure based control scheme was proposed for Active Queue Management(AQM) by using sliding model algorithm and reach law method. This approach aims to address the tradeoff between good performance and robustness with respect to the uncertainties of the round-trip time and the number of active connections. Ns simulations results show that the proposed design significantly outperforms the peer AQM schemes in terms of fluctuation in the queue length, packet throughput, and loss ratio. The conclusion is that proposed scheme is in favor of the achievement to AQM objectives due to its good transient and steady performance.展开更多
The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlin...The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory.The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.展开更多
文摘The robust control of spacecraft during approach for docking is studied by first giving the relative motion equations for trajectory and attitude coupling of two spacecraft and then accomplishing the control design of the tracking vehicle using the feedback linearization method and the variable structure theory. Both theoretical analysis and simulation results indicate the robust controller proposed can guarantee non impact docking of two spacecraft even when the object vehicle is subjected to an external interference.
文摘This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the congestion-avoidance flow-control mode of transmission control protocol (TCP), we present delay control algorithms for active queue management (AQM) and discuss the parameter tuning of the algorithms. The NS (network simulator) simulation results show that the proposed control scheme for the nonlinear TCP/AQM model has good performance and robustness with respect to the uncertainties of the round-trip time (RTT) and the number of active TCP sessions. Compared to other similar schemes, our algorithms perform better in terms of packet loss ratio, throughput and butter fluctuation.
基金co-supported by National Natural Science Foundation of China (Nos. 91116017, 60974106 and 11102080)Funding for Outstanding Doctoral Dissertation in NUAA (No. BCXJ10-04)
文摘An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.
文摘In this work,a variable structure control(VSC)technique is proposed to achieve satisfactory robustness for unstable processes.Optimal values of unknown parameters of VSC are obtained using Whale optimization algorithm which was recently reported in literature.Stability analysis has been done to verify the suitability of the proposed structure for industrial processes.The proposed control strategy is applied to three different types of unstable processes including non-minimum phase and nonlinear systems.A comparative study ensures that the proposed scheme gives superior performance over the recently reported VSC system.Furthermore,the proposed method gives satisfactory results for a cart inverted pendulum system in the presence of external disturbance and noise.
文摘The increasing demand on robotic system performance leads to the use of advanced control strategies. A variable structure model-following adaptive control design is presented for the nonlinear robot manipulator systems, when subjected to fast and wide ranges of unknown-but-bounded parameter variations and disturbances. The design does not require any knowledge of a nonlinear robotic system. The system is robust and insensitive to the parameter variation, disturbances, as well as to the unmodeled dynamics. This insensitive property enables the elimination of interactions among the various joints of the robotic manipulator. In the closed loop, the robotic system asymptotically converges to the reference trajectory with a Prescribed transient resPOnse. The problem of chattering is discussed with the introduction of the special approaches: boundary layer, smoothing law, and nonlinear compensation.
文摘This paper presents a new method of smoothing control signal in control system of variable structure. Using the relationship between the gain of nonlinear term in the control signal and distance of the system states from the equivalent point, a saturating property with the variable width is adopted. The method not only reduces the chattering of the control signal but also decrees the steady-state error.
文摘Based on the linearized model of the TCP connections through the congested routers, this paper puts forward an active queue management algorithm (FVS-T). The algorithm utilizes the fuzzy variable structure control algorithm with delay factor to compensate time varying round-trip times (RTT) and uncertainties with respect to the number of active TCP sessions. By analyzing the robustness and performance of the control scheme for the nonlinear TCP/AQM model, we show that the proposed design has good performance and robustness, which are central to the notion of AQM. Implementation issues were discussed and ns simulations were provided to validate the design and compare its performance to other peer schemes in different scenarios. The results show that the proposed design significantly outperforms the other congestion schemes in terms of packet loss ratio, throughput and buffer fluctuation.
文摘Combining the characteristics of servo systems , tracking variable structure control law is studied. Two kinds of new variable control law , the generalized exponential approaching vari- able structure control law and the integral variable structure control law are put forward for dis- crete time domain. Taking pump-controlled-motor rotational speed servo system for example , the experiment investigation and digital simulation of integral variable structure control law for dis- crete time domain are performed , the rightness of conclusions are verified.
基金supported by the National High Technology Research and Development Program of China (863 Program) (2007AA04Z227)
文摘This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed and a robust growing algorithm is developed to extract the underlying linear structure of the observed data.Under the structural density assumption,the C-step technique borrowed from the Rousseeuw＇s robust MCD estimator is used to keep the algorithm robust and the mean-shift algorithm is adopted to ensure a good initialization.To eliminate the model ambiguities of the multiple-structural data,statistical hypotheses tests are used to refine the data classification and improve the accuracy of the model parameter estimation.Experiments show that the efficiency and robustness of the proposed algorithm.
文摘An approach is proposed to analyze pole assignment robustness in some specific regions for linear variable structure control systems subject to structured perturbations.A sufficient condition of robustness is presented and the upper bound of structured perturbations which ensure the robustness is computed by numerical analysis.
文摘A variable structure based control scheme was proposed for Active Queue Management(AQM) by using sliding model algorithm and reach law method. This approach aims to address the tradeoff between good performance and robustness with respect to the uncertainties of the round-trip time and the number of active connections. Ns simulations results show that the proposed design significantly outperforms the peer AQM schemes in terms of fluctuation in the queue length, packet throughput, and loss ratio. The conclusion is that proposed scheme is in favor of the achievement to AQM objectives due to its good transient and steady performance.
文摘The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given.The decoupling-ability and controllability are proved.Aiming at this system,a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory.The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.
