This paper investigates the finite-time H_(∞)control problem for a class of nonlinear discrete-time one-sided Lipschitz systems with uncertainties.Using the one-sided Lipschitz and quadratically inner-bounded conditi...This paper investigates the finite-time H_(∞)control problem for a class of nonlinear discrete-time one-sided Lipschitz systems with uncertainties.Using the one-sided Lipschitz and quadratically inner-bounded conditions,the authors derive less conservative criterion for the controller design and observer design.A new criterion is proposed to ensure the closed-loop system is finite-time bounded(FTB).The sufficient conditions are established to ensure the closed-loop system is H_(∞)finite-time bounded(H_(∞)FTB)in terms of matrix inequalities.The controller gains and observer gains are given.A numerical example is provided to demonstrate the effectiveness of the proposed results.展开更多
This paper investigates the problem of observer design for a class of control systems.Different from current works,the nonlinear functions in the system only satisfy the property of the one-sided Lipschitz(OSL)conditi...This paper investigates the problem of observer design for a class of control systems.Different from current works,the nonlinear functions in the system only satisfy the property of the one-sided Lipschitz(OSL)condition but not quadratic inner-boundedness(QIB).Moreover,the case where the OSL constant is negative is specially investigated.Firstly,a full-order observer is constructed for the original system.Then,a reduced-order observer is also designed by using the decomposition method.The advantage and effectiveness of the proposed design scheme are shown in a numerical simulation.展开更多
This paper considers the design of an adaptive second order terminal observer for robust fault reconstruction of nonlinear Lipschitz systems with unknown upper bound of derivative fault.Firstly,a linear transforming m...This paper considers the design of an adaptive second order terminal observer for robust fault reconstruction of nonlinear Lipschitz systems with unknown upper bound of derivative fault.Firstly,a linear transforming matrix is introduced,which transforms the system into two subsystems,and thus to reduce the dimension of the system.One of the subsystem is affected by fault and disturbances,while the other is free,which simplifies the design of observer.Then,the design method of the observer gain matrix is transformed into a convex optimization problem under linear matrix inequalities(LMIs).A second order non-singular terminal sliding mode observer is designed for the transformed system to realize the accurate estimation of state and fault.Considering the unknown upper bound of derivative fault,an adaptive algorithm is designed in the equivalent output error injection signal to ensure the sliding mode motion reach the sliding surface within limited time.Finally,an example demonstrates the effectiveness of the proposed method in the paper.展开更多
This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topol...This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accomplish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual leader UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm system formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algorithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elaborated to verify the validity of the proposed approach.展开更多
In this paper,the shadowing property for 1-dimensional subsystems of Z^(k)-actions is investigated.The concepts of pseudo orbit and shadowing property for 1-dimensional subsystems of Z^(k)-actions are introduced in tw...In this paper,the shadowing property for 1-dimensional subsystems of Z^(k)-actions is investigated.The concepts of pseudo orbit and shadowing property for 1-dimensional subsystems of Z^(k)-actions are introduced in two equivalent ways.For a smooth Z^(k)-action T on a closed Riemannian manifold,we propose a notion of Anosov direction via the induced nonautonomous dynamical system.Adapting Bowen’s geometric method to our case,we show that T has the Lipschitz shadowing property along any Anosov direction.展开更多
This paper addresses the practical stabilization problem for a class of one-sided Lipschitz nonlinear time delay systems with external disturbances.In case there is no perturbation,the exponential convergence of the o...This paper addresses the practical stabilization problem for a class of one-sided Lipschitz nonlinear time delay systems with external disturbances.In case there is no perturbation,the exponential convergence of the observer was confirmed.When external disturbances appear in the system,a separation principle is established,and the authors show that the closed loop system is exponentially practical stable.By choosing a suitable Lyapunov-Krasovskii functional,the authors derive new sufficient conditions to guarantee the exponential stability of the systems.Finally,a physical model is performed to prove the efficiency and applicability of the suggested approach.展开更多
The objective of this paper is to propose a reduced-order observer for a class of Lipschitz nonlinear discrete-time systems.The conditions that guarantee the existence of this observer are presented in the form of lin...The objective of this paper is to propose a reduced-order observer for a class of Lipschitz nonlinear discrete-time systems.The conditions that guarantee the existence of this observer are presented in the form of linear matrix inequalities(LMIs). To handle the Lipschitz nonlinearities, the Lipschitz condition and the Young′s relation are adequately operated to add more degrees of freedom to the proposed LMI. Necessary and sufficient conditions for the existence of the unbiased reduced-order observer are given. An extension to H_∞ performance analysis is considered in order to deal with H_∞ asymptotic stability of the estimation error in the presence of disturbances that affect the state of the system. To highlight the effectiveness of the proposed design methodology, three numerical examples are considered. Then, high performances are shown through real time implementation using the ARDUINO MEGA 2560 device.展开更多
We prove the uniform Lipschitz bound of solutions for a nonlinear elliptic system modeling the steady state of populations that compete in a heterogeneous environment. This extends known quasi-optimal regularity resul...We prove the uniform Lipschitz bound of solutions for a nonlinear elliptic system modeling the steady state of populations that compete in a heterogeneous environment. This extends known quasi-optimal regularity results and covers the optimal case for this problem. The proof relies upon the blow-up technique and the almost monotonicity formula by Caffarelli, Jerison and Kenig.展开更多
In this paper, a new method of filtering for Lipschitz nonlinear systems is proposed in the form of an LMI optimization problem. The proposed filter has guaranteed decay rate (exponential convergence) and is robust ag...In this paper, a new method of filtering for Lipschitz nonlinear systems is proposed in the form of an LMI optimization problem. The proposed filter has guaranteed decay rate (exponential convergence) and is robust against unknown exogenous disturbance. In addition, thanks to the linearity of the proposed LMIs in the admissible Lipschitz constant, it can be maximized via LMI optimization. This adds an extra important feature to the observer, robustness against nonlinear uncertainty. Explicit bound on the tolerable nonlinear uncertainty is derived. The new LMI formulation also allows optimizations over the disturbance attenuation level ( cost). Then, the admissible Lipschitz constant and the disturbance attenuation level of the filter are simultaneously optimized through LMI multiobjective optimization.展开更多
In this paper, we study the stability of a class of conformable fractional-order systems using the Lyapunov function. We assume that the nonlinear part of the system satisfies the one-sided Lipschitz condition and the...In this paper, we study the stability of a class of conformable fractional-order systems using the Lyapunov function. We assume that the nonlinear part of the system satisfies the one-sided Lipschitz condition and the quadratic inner-bounded condition. We provide some sufficient conditions that ensure the asymptotic stability of the system. Furthermore, we present the construction of a feedback stabilizing controller for conformable fractional bilinear systems.展开更多
基金supported by the Natural Science Foundation of Tianjin under Grant No.18JCYBJC88000.
文摘This paper investigates the finite-time H_(∞)control problem for a class of nonlinear discrete-time one-sided Lipschitz systems with uncertainties.Using the one-sided Lipschitz and quadratically inner-bounded conditions,the authors derive less conservative criterion for the controller design and observer design.A new criterion is proposed to ensure the closed-loop system is finite-time bounded(FTB).The sufficient conditions are established to ensure the closed-loop system is H_(∞)finite-time bounded(H_(∞)FTB)in terms of matrix inequalities.The controller gains and observer gains are given.A numerical example is provided to demonstrate the effectiveness of the proposed results.
基金the National Natural Science Foundation of China(No.61403267)the China Postdoctoral Science Foundation(No.2017M611903)。
文摘This paper investigates the problem of observer design for a class of control systems.Different from current works,the nonlinear functions in the system only satisfy the property of the one-sided Lipschitz(OSL)condition but not quadratic inner-boundedness(QIB).Moreover,the case where the OSL constant is negative is specially investigated.Firstly,a full-order observer is constructed for the original system.Then,a reduced-order observer is also designed by using the decomposition method.The advantage and effectiveness of the proposed design scheme are shown in a numerical simulation.
基金supported by National Natural Science Foundation of China(61174053)National Key Basic Research Program of China(2014CB845301/2/3)+3 种基金Fundamental Research Funds for the Central Universities(2014ZP0021)Cultivation Fund of the Key Scientific and Technical Innovation Project,Ministry of Education of China(708069)partially by Key Laboratory of Autonomous Systems and Networked Control,Ministry of EducationKey Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes
基金the National Natural Science Foundation of China(No.61304120)。
文摘This paper considers the design of an adaptive second order terminal observer for robust fault reconstruction of nonlinear Lipschitz systems with unknown upper bound of derivative fault.Firstly,a linear transforming matrix is introduced,which transforms the system into two subsystems,and thus to reduce the dimension of the system.One of the subsystem is affected by fault and disturbances,while the other is free,which simplifies the design of observer.Then,the design method of the observer gain matrix is transformed into a convex optimization problem under linear matrix inequalities(LMIs).A second order non-singular terminal sliding mode observer is designed for the transformed system to realize the accurate estimation of state and fault.Considering the unknown upper bound of derivative fault,an adaptive algorithm is designed in the equivalent output error injection signal to ensure the sliding mode motion reach the sliding surface within limited time.Finally,an example demonstrates the effectiveness of the proposed method in the paper.
基金co-supported by the Key-area Research and Development Program of Guangdong ProvinceChina(No.2019B090915001)+2 种基金National Key R&D Program of China(No.2018YFB1308000),National Natural Science Funds of China(Nos.61772508,U1913202,U1813205,U1713213)CAS Key Technology Talent Program,Shenzhen Technology ProjectChina(Nos.JCYJ20180507182610734,JSGG20191129094012321).
文摘This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accomplish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual leader UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm system formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algorithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elaborated to verify the validity of the proposed approach.
基金Supported by the National Natural Science Foundation of China(Grant Nos.1177111811801336)+1 种基金the Applied Basic Research Program of Shanxi Province(Grant No.201901D211417)the Science and Technology Innovation Project of Shanxi Higher Education(Grant No.2019L0475).
文摘In this paper,the shadowing property for 1-dimensional subsystems of Z^(k)-actions is investigated.The concepts of pseudo orbit and shadowing property for 1-dimensional subsystems of Z^(k)-actions are introduced in two equivalent ways.For a smooth Z^(k)-action T on a closed Riemannian manifold,we propose a notion of Anosov direction via the induced nonautonomous dynamical system.Adapting Bowen’s geometric method to our case,we show that T has the Lipschitz shadowing property along any Anosov direction.
文摘This paper addresses the practical stabilization problem for a class of one-sided Lipschitz nonlinear time delay systems with external disturbances.In case there is no perturbation,the exponential convergence of the observer was confirmed.When external disturbances appear in the system,a separation principle is established,and the authors show that the closed loop system is exponentially practical stable.By choosing a suitable Lyapunov-Krasovskii functional,the authors derive new sufficient conditions to guarantee the exponential stability of the systems.Finally,a physical model is performed to prove the efficiency and applicability of the suggested approach.
文摘The objective of this paper is to propose a reduced-order observer for a class of Lipschitz nonlinear discrete-time systems.The conditions that guarantee the existence of this observer are presented in the form of linear matrix inequalities(LMIs). To handle the Lipschitz nonlinearities, the Lipschitz condition and the Young′s relation are adequately operated to add more degrees of freedom to the proposed LMI. Necessary and sufficient conditions for the existence of the unbiased reduced-order observer are given. An extension to H_∞ performance analysis is considered in order to deal with H_∞ asymptotic stability of the estimation error in the presence of disturbances that affect the state of the system. To highlight the effectiveness of the proposed design methodology, three numerical examples are considered. Then, high performances are shown through real time implementation using the ARDUINO MEGA 2560 device.
文摘We prove the uniform Lipschitz bound of solutions for a nonlinear elliptic system modeling the steady state of populations that compete in a heterogeneous environment. This extends known quasi-optimal regularity results and covers the optimal case for this problem. The proof relies upon the blow-up technique and the almost monotonicity formula by Caffarelli, Jerison and Kenig.
文摘In this paper, a new method of filtering for Lipschitz nonlinear systems is proposed in the form of an LMI optimization problem. The proposed filter has guaranteed decay rate (exponential convergence) and is robust against unknown exogenous disturbance. In addition, thanks to the linearity of the proposed LMIs in the admissible Lipschitz constant, it can be maximized via LMI optimization. This adds an extra important feature to the observer, robustness against nonlinear uncertainty. Explicit bound on the tolerable nonlinear uncertainty is derived. The new LMI formulation also allows optimizations over the disturbance attenuation level ( cost). Then, the admissible Lipschitz constant and the disturbance attenuation level of the filter are simultaneously optimized through LMI multiobjective optimization.
文摘In this paper, we study the stability of a class of conformable fractional-order systems using the Lyapunov function. We assume that the nonlinear part of the system satisfies the one-sided Lipschitz condition and the quadratic inner-bounded condition. We provide some sufficient conditions that ensure the asymptotic stability of the system. Furthermore, we present the construction of a feedback stabilizing controller for conformable fractional bilinear systems.
