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1.
The paper presents results for the second moment stability of continuous-time Markov jump systems with quadratic terms, aiming for engineering applications. Quadratic terms stem from physical constraints in applications, as in electronic circuits based on resistor (R), inductor (L), and capacitor (C). In the paper, an RLC circuit supplied a load driven by jumps produced by a Markov chain—the RLC circuit used sensors that measured the quadratic of electrical currents and voltages. Our result was then used to design a stabilizing controller for the RLC circuit with measurements based on that quadratic terms. The experimental data confirm the usefulness of our approach.  相似文献   

2.
In this paper, global practical tracking is investigated via output feedback for a class of uncertain nonlinear systems subject to unknown dead-zone input. The nonlinear systems under consideration allow more general growth restriction, where the growth rate includes unknown constant and output polynomial function. Without the precise priori knowledge of dead-zone characteristic, an input-driven observer is designed by introducing a novel dynamic gain. Based on non-separation principle, a universal adaptive output feedback controller is proposed by combining dynamic high-gain scaling approach with backstepping method. The controller proposed guarantees that the closed-loop output can track any smooth and bounded reference signal by any small pre-given tracking error, while all closed-loop signals are globally bounded. Finally, simulation examples are given to illustrate the effectiveness of our dynamic output feedback control scheme.  相似文献   

3.
To control MIMO systems with unmatched uncertainties, two sliding-mode controllers are presented in this paper. Firstly, a terminal sliding-mode controller is presented to force the output of an MIMO system to a region near zero in finite-time. With the analysis on the effect of the unmatched uncertainties, a full-order terminal sliding-mode control is further proposed to force the output of the MIMO system to converge to zero rather than a region. The virtual control is utilized to establish the reference for the part of the system states, which can reject unmatched uncertainties completely. To generate continuous virtual control signals, the proposed full-order terminal sliding-mode controller makes the ideal sliding motion as the full-order dynamics rather than the reduced-order dynamics in traditional sliding-mode control systems. Finally, the simulations on the control of an L-1011 fixed wing aircraft at cruise flight conditions validate the effectiveness of the proposed method.  相似文献   

4.
A leader-following synchronous control is proposed in multiple electrohydraulic actuators (MEHAs) under distributed switching topologies to guarantee the follower electrohydraulic actuators (EHAs) tracking the leader motion. Each EHA has a 3-orders nonlinear dynamics with lumped uncertainties involving uncertain hydraulic parameters and unknown external load. Then a quasi-synchronization controller together with a high-gain disturbance observer is designed by Lyapunov techniques to guarantee the synchronous errors asymptotically convergence to a zero neighborhood. Finally, the effectiveness of the proposed quasi-synchronous controller is verified by both simulation and experimental bench such that the finite EHA nodes achieve leader-following synchronous motion under distributed switching topologies.  相似文献   

5.
In this paper, we study the consensus tracking control problem of a class of strict-feedback multi-agent systems (MASs) with uncertain nonlinear dynamics, input saturation, output and partial state constraints (PSCs) which are assumed to be time-varying. An adaptive distributed control scheme is proposed for consensus achievement via output feedback and event-triggered strategy in directed networks containing a spanning tree. To handle saturated control inputs, a linear form of the control input is adopted by transforming the saturation function. The radial basis function neural network (RBFNN) is applied to approximate the uncertain nonlinear dynamics. Since the system outputs are the only available data, a high-gain adaptive observer based on RBFNN is constructed to estimate the unmeasurable states. To ensure that the constraints of system outputs and partial states are never violated, a barrier Lyapunov function (BLF) with time-varying boundary function is constructed. Event-triggered control (ETC) strategy is applied to save communication resources. By using backstepping design method, the proposed distributed controller can guarantee the boundedness of all system signals, consensus tracking with a bounded error and avoidance of Zeno behavior. Finally, the correctness of the theoretical results is verified by computer simulation.  相似文献   

6.
In this paper, we consider the problem of mixed H∞ and passivity control for a class of stochastic nonlinear systems with aperiodic sampling. The system states are unavailable and the measurement is corrupted by noise. We introduce an impulsive observer-based controller, which makes the closed-loop system a stochastic hybrid system that consists of a stochastic nonlinear system and a stochastic impulsive differential system. A time-varying Lyapunov function approach is presented to determine the asymptotic stability of the corresponding closed-loop system in mean-square sense, and simultaneously guarantee a prescribed mixed H∞ and passivity performance. Further, by using matrix transformation techniques, we show that the desired controller parameters can be obtained by solving a convex optimization problem involving linear matrix inequalities (LMIs). Finally, the effectiveness and applicability of the proposed method in practical systems are demonstrated by the simulation studies of a Chua’s circuit and a single-link flexible joint robot.  相似文献   

7.
This paper proposes anti-oscillation and chaos control scheme for the fractional-order brushless DC motor system wherein there exist unknown dynamics, immeasurable states and chaotic oscillation. Aimed at immeasurable states, the high-gain observers with fast convergence are presented to obtain the information of system states. To compensate uncertainties existing in the dynamic system, a finite-time echo state network with a weight is proposed to approximate uncertain dynamics while its weight is tuned by a fractional-order adaptive law online. Meanwhile a fractional-order filter is introduced to deal with the repeated derivative of the backstepping. Based on the fractional-order Lyapunov stability criterion, the anti-oscillation and chaos control scheme integrated with a high-gain observer, an echo state network and a filter are proposed by using recursive steps of backstepping. The proposed scheme guarantees the boundedness of all signals of the closed-loop system in the sense of global asymptotic stability, and also suppresses chaotic oscillation. Finally, the effectiveness of our scheme is demonstrated by simulation results.  相似文献   

8.
A simple means for combining a small direct voltage with an alternating carrier is described. This consists of connecting the direct voltage in series with an alternating voltage of the same order of magnitude. The two are then passed through a copper oxide rectifier which suppresses one part of the cycle. The degree of suppression depends upon the magnitude of the direct voltage. The resulting fluctuating voltage can be amplified to any desired degree in a conventional amplifier.The theory for the simple case of pure resistance is worked out, with an example. The solution of the more general case with inductances is indicated.The practical circuit which has been used for the amplification of thermo-couple currents, and as a galvanometer power multiplier, is shown.  相似文献   

9.
In this paper, the problem of the predefined-time tracking with time-varying output constraints (TVOC) is investigated for a class of nonlinear strict-feedback systems. First, the sufficient conditions for the studied problem are presented. Then, a recursive design algorithm of the controller is proposed by backstepping technique. A novel stabilizing function is constructed by adding a fractional term, which is capable of decreasing the asymmetric time-varying Barrier Lyapunov Function (BLF) to the origin within any desired settling time. After that, it is shown that under our proposed control, all the closed-loop signals are bounded, and the tracking error converges to zero within any desired settling time and remains zero thereafter without the violation of the output constraint. The settling time in this paper is not only independent of the design parameters, nor does it depend on the initial conditions, and can be set according to per our will. Finally, two examples are given to illustrate the effectiveness of the proposed method.  相似文献   

10.
The sudden development of short-circuit currents, and of recovery voltages at interruption of currents, depends on the effects of stator and rotor leakages as well as of saturation in the generating synchronous machines.The non-linear problem of the interaction of these features with the performance of the main windings and auxiliary damper circuits is solved analytically.This leads to a simple graphical representation which is numerically determined by the well-known magnetic and electric characteristics of machine and network and by two time constants of very different magnitudes which are derived from the ordinary data of the machines. Hence the variation with time, of short-circuit currents and of recovery voltages, can easily and rigorously be computed for every given example.The deviations of actual damper circuits from the ideal form and the effects of eddy currents in solid steel parts of the rotor are discussed so far that numerical results can be derived readily.A new transient test for synchronous machines is suggested by which rotor and stator leakage voltages can be measured separately, avoiding the uncertainties of the usual steady state leakage tests.  相似文献   

11.
For a class of flexible joint manipulators actuated by DC-motors, the problem of modeling and trajectory tracking control under random disturbances is considered in this paper. How to describe random disturbances and introduce them to the system is the key for modeling and control. According to the relative motion and the equivalent circuit, the effect of random disturbances can be regarded as torque or voltage disturbed by colored noises. Thus, a random model is constructed. By using the vectorial backstepping and the technique of separating out the noise from coupled terms, a state feedback tracking controller is designed such that the state of closed-loop system has an asymptotic gain in the 2nd moment and the mean square of tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The effectiveness of the proposed scheme is demonstrated by the simulation results for a two-link robot.  相似文献   

12.
In this paper, switched circuits are modeled based on wavelet decomposition and neural network. Also describes the usage of wavelet decomposition and neural network for modeling and simulation of nonlinear systems. The switched circuits are piecewise-linear circuits. At each position of switch the circuit is linear but when considered all switching positions of the circuit it becomes nonlinear. An important problem which arises in modeling switched circuit is high structural complexity. In this study, wavelet decomposition is used for feature extracting from input signals and neural network is used as an intelligent modeling tool. Two performance measures root-mean-square (RMS) and the coefficient of multiple determinations (R2) are given to compare the predicted and computed values for model validation. The evaluated R2 value is 0.9985 and RMS value is 0.0099. All simulations showed that the proposed method is more effective and can be used for analyzing and modeling switched circuits. When we consider obtained performance, we can easily say that the proposed method can be used efficiently for modeling any other nonlinear dynamical systems.  相似文献   

13.
This paper deals with asymptotic rejection of a multi-sinusoidal signal for linear single-input single-output stable systems with unknown structure. An adaptive orthogonal signals generator is used to both reconstruct the disturbance and cancel its effect on the system output. An interesting feature is that the disturbance is removed by the generated internal signals with no additional dynamics in the cancellation algorithm. A fractional-order controller is designed which guarantees the closed-loop stability of the system if the location of the plant frequency response at the estimated frequencies lies in a half-plane passing through the origin of the complex plane, i.e. no information about the order of the system to be controlled, the relative degree, the nature of its poles and zeros, is required. The case of multi-sinusoidal disturbance is also analyzed. Simulations and comparisons with existing approaches are presented that highlight the performances of the proposed method.  相似文献   

14.
In this paper, we address the problem of output containment control of general linear multi-agent systems (MASs). The MAS under consideration is comprised by multiple followers and multiple leaders, all with heterogeneous dynamics. In particular, the leaders’ dynamics are subject to heterogeneous non-zero (possibly persistent) but bounded inputs, which are not measurable for any follower agent, making the associated distributed control design problem rather challenging. A new distributed observer-based containment control protocol is proposed to overcome associated challenges. It consists of two hierarchical layers including (i) the first layer of adaptive finite-time cooperative observer responsible for estimating the convex-hull signals formed by multiple leaders’ states through inter-agent collaboration; and (ii) the second layer of distributed state-feedback controller responsible for local tracking control through a modified output regulation technique. Important novelties of the proposed protocol are that (i) it deals with MASs with not only heterogeneous followers but also heterogeneous leaders; (ii) exact output containment control performance can be achieved in the presence of unmeasurable leaders’ inputs and unknown connectivity of communication network; and (iii) associated solvability conditions are formulated as linear matrix inequalities plus linear algebraic equations, which can be tested and solved effectively via efficient semi-definite programming. The developed theoretical results are demonstrated both rigorously using Lyapunov methods and through numerical simulations.  相似文献   

15.
An oscillographic and quantitative investigation of the grid and plate currents of a grid-controlled mercury vapor tube, operating in an a.c. circuit, as functions of grid voltage and resistance, plate voltage and phase displacement between grid and plate voltages.It is shown that the direction of grid current depends not only upon the instantaneous polarity of the grid but also upon the magnitude of the grid voltage and upon the plate current. The grid current wave may consist of positive loops only, of positive and negative loops of varying areas or of equal areas, and of negative loops only. The various factors affecting the form of grid current wave are considered in detail.Inverse plate current occurs whenever the grid current is concurrent with the negative half-cycle of the plate voltage. The minimum value of inverse plate current occurs when there is no grid current coincident with the negative half-cycle of the plate voltage. It is caused by the lag of deionization of the mercury vapor furnishing a small amount of ionization when the plate voltage becomes instantaneously negative. With a constant average grid current the magnitude of the inverse plate current varies approximately sinusoidally with phase displacement between grid and plate voltages.  相似文献   

16.
研究设计了全差分、高增益的CMOS运算放大器,本文采用折叠共源共栅结构、连续时间方式共模反馈以及宽摆幅偏置电路。基于CSMC0．61xmCMOS工艺,采用HSPICE软件对电路进行仿真。对各性能参数的仿真结果表明,该电路在输入2．5V电压的情况下,此电路的开环直流增益为80dB,相位裕度800,单位增益带宽74．5MHz,具有较高的增益。  相似文献   

17.
《Journal of The Franklin Institute》2023,360(14):10605-10632
Relative degree (RD) approach is a powerful tool for obtaining system's input-output dynamics used for output tracking controller designs of minimum phase systems. Designs using the RD alone can fail due both to insufficient control authority in minimum phase systems, and instability of internal/zero dynamics attributed to nonminimum phase systems. A novel definition and a concept of Practical Generalized RD (PGRD) are proposed in this paper and are used in concert with Sliding Mode Control (SMC) to compensate for system perturbations in minimum phase systems. The use of known Generalized Relative Degree (GRD) in nonminimum phase systems allows for the elimination of internal dynamics. However, instability that emerges in the corresponding control dynamic extension is defeating any output tracking controller design. A novel methodology of using GRD for designing continuous SMC in nonminimum phase systems is presented. An algorithm for generating a bounded solution of the unstable dynamic extension is proposed and used in concert with SMC, allowing robust control design for nonminimum phase systems. The efficacy of the proposed GRD-based approaches is demonstrated on a minimum and nonminimum phase rocket attitude control problem both analytically and via simulation.  相似文献   

18.
This paper deals with the problem of regulating the output of a linear multivariable system affected by disturbances satisfying a given linear differential equation. Conditions are given for the existence of a linear controller such that the overall control system is asymptotically stable and the regulated output goes asymptotically to zero for any disturbance of the given class. Only the regulated outputs are assumed to be measured. Moreover, procedures are presented for the synthesis of the controller.  相似文献   

19.
This paper presents the design of a hysteresis band controller to regulate the switching frequency in a sliding mode controlled nonlinear Boost power converter. The proposed architecture relies on a piecewise linear modeling of the switching function behavior within the hysteresis band, and consists of a continuous-time integral-type controller that modifies the amplitude of the hysteresis band of the comparator in accordance with the error between the desired and the actually measured switching period. The study provides the dynamical models of the converter operating in sliding mode and the switching frequency control loop. Moreover, the design of the parameters of both the sliding mode control and the switching frequency controller guarantee the fulfilment of the desired output voltage regulation of the Boost converter and the steady state setting of the switching frequency with a known, taylored dynamics. A Boost power converter prototype has been built to validate the proposal. Experimental results confirm the predicted good performance of the controllers, as well as the robustness with respect to changes in the switching frequency reference and the system parameters.  相似文献   

20.
This paper discusses the results of a series of experimental investigations that have been conducted at The Johns Hopkins University on the effects of electric shock. Rats and dogs were used as the experimental animals. They were completely anesthetized before the experiments. Studies of the effects produced by electric current upon the nervous system and upon the heart are reported. Three types of circuits were used in the work, namely, direct current, alternating current, and the discharge of an impulse generator.In the first series of experiments, the effect of voltage was studied and it was found that low voltage alternating current circuits are much more deadly than direct current circuits of the same voltage. At voltages of 1,000 and higher the reverse is the case. In this work, the importance of the size of the animal as related to the injury was definitely established, larger animals being able to withstand a greater current than those small in size.The resistance offered by a body in an electrical circuit was determined. The resistance is made up of two parts—the contact resistance, and the ohmic resistance of the body proper. The resistances offered at the contacts are of the nature of a voltage drop and are largely independent of the current flowing. The importance of contact resistances in industrial accidents is emphasized.In a second series of experiments the effect of the current path through the  相似文献   

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