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1.
李辉 《大众科技》2012,(2):56-59
文章研究了线性切换系统的鲁棒跟踪控制,并提出可解性的充分条件。设计切换控制规则使得切换线性系统满足加权H∞参考模型,并采用平均驻留时间法和Lyapunov函数来处理稳定性分析和控制器设计。通过使用线性矩阵不等式,控制器设计问题可以得到很好的解决。  相似文献   

2.
This paper studies the problem of continuous gain-scheduled PI tracking control on a class of stochastic nonlinear systems subject to partially known jump probabilities and time-varying delays. First, gradient linearization procedure is used to construct model-based linear stochastic systems in the vicinity of selected operating states. Next, based on stochastic Lyapunov stabilization analysis, sufficient conditions for the existence of a PI tracking control are established for each linear model in terms of linear matrix inequalities. Finally, continuous gain-scheduled approach is employed to design continuous nonlinear PI tracking controllers on the entire nonlinear jump system. Simulation example is given to illustrate the effectiveness of the developed design techniques.  相似文献   

3.
In this paper, new upper bounds for the solution matrix of the continuous algebraic Riccati matrix equation (CARE) are derived by means of some matrix inequalities and linear algebraic techniques. Furthermore, for the derived each bound, iterative algorithms are developed to obtain sharper solution estimates. Comparing with some appearing results in the literature, the presented bounds are less restrictive and more efficient. Finally, numerical examples are given to illustrate the effectiveness of the proposed results.  相似文献   

4.
In this paper, the global Mittag-Leffler consensus tracking issue is considered for fractional singularly perturbed multi-agent systems (FSPMASs) based on event-triggered control strategy, where the inherent dynamic is modeled to be a discontinuous function with nondecreasing property. Firstly, a differential inequality with respect to fractional-order derivative of convex function is developed. As the special cases, the inequalities about fractional-order derivative of three known functions are also addressed. Secondly, a distributed event-triggered control scheme is designed to guarantee that the considered FSPMASs can achieve the global Mittag-Leffler consensus. Moreover, the Mittag-Leffer convergence speed of tracking the leader for followers can be adjusted to any desired values in advance. In addition, under fractional Filippov differential inclusion framework, by applying Lur’e Postnikov-type Lyapunov functional with variable upper limit integral item and Clarke’s non-smooth analysis technique, the global Mittag-Leffler consensus conditions are addressed in terms of matrix inequalities (MIs). Finally, two numerical simulations are provided to illustrate the validity of the proposed design method and theoretical results.  相似文献   

5.
This paper is concerned with the probability-constrained tracking control problem for a class of time-varying systems with stochastic nonlinearities, stochastic noises and successively packet loss. The main purpose of this paper is to design a time-varying observer and tracking controller such that (1) the probabilities of both the estimation error and tracking error confined to given ellipsoidal sets are larger than prescribed constants, and (2) the ellipsoids are minimized in the sense of matrix norm at each time point. By using a stochastic analysis method, the probability constrained tracking control problem is solved and sufficient conditions are obtained in terms of recursive linear matrix inequalities. A recursive optimization algorithm is developed to design the observer and tracking controller such that not only the addressed probability constrained aim is satisfied, but also the ellipsoidal sets are minimized. At last, a simulation example is given to illustrate the effectiveness and applicability of the developed approach.  相似文献   

6.
Communication delays in networked control systems (NCSs) has been shown to have non-uniform distribution and multifractal nature. This paper proposes a delay distribution based stability analysis and synthesis approach for NCSs with non-uniform distribution characteristics of network communication delays. A stochastic control model related with the characteristics of communication networks is established to describe the NCSs. Then, delay distribution-dependent NCS stability criteria are derived in the form of linear matrix inequalities (LMIs). Also, the maximum allowable upper delay bound and controller feedback gain can be obtained simultaneously from the developed approach by solving a constrained convex optimization problem. Numerical examples showed that the results derived from the proposed method are less conservativeness than those derived from the existing methods.  相似文献   

7.
The probabilistic-constrained tracking control issue is investigated for a class of time-varying nonlinear stochastic systems with sensor saturation, deception attacks and limited bandwidth in an unified framework. The saturation of sensors is quantified by a sector-bound-based function satisfying certain conditions, and the random deception attacks are considered and modeled by a random indicator variable. To gain more efficient utilization of communication channels, a Round-Robin (RR) protocol is utilized to orchestrate the transmission order of measurements. The main purposes of this study aim to plan an observer-based tracking controller to achieve the following goals: (1) the related performance indicators of the estimation error is less than given bound at each time step; and (2) the violation probability of the tracking error confined in a predefined scope is supposed to be higher than a prescribed scalar and the area is minimized at each instant. In order to reach these requirements, a group of recursive linear matrix inequalities (RLMIs) are developed to estimate the state and design the tracking controller at the same time. Finally, two simulation examples are exploited to illustrate the availability and flexibility of the proposed scheme.  相似文献   

8.
This paper proposes an extended generalized integral inequality based on free matrices (EGIIFM) and applies it to the stability analysis of neural networks with time-varying delays. The EGIIFM estimates an upper bound for a quadratic form of a positive definite matrix with an augmented vector staked not only with the state and its derivative but also with the nonlinear activation function. By reflecting the correlated cross-information among the terms in the augmented vector as free matrices, the EGIIFM provides a tighter upper bound and encompasses various existing single integral inequalities as special cases. In addition, by establishing a new double integral Lyapunov–Krasovskii functional including the correlated cross-information, a less conservative stability criterion is obtained. Through three well-known numerical examples, the effectiveness of the EGIIFM is evaluated.  相似文献   

9.
This paper focuses on robust adaptive sliding mode control for discrete-time state-delay systems with mismatched uncertainties and external disturbances. The uncertainties and disturbances are assumed to be norm-bounded but the bound is not necessarily known. Sufficient conditions for the existence of linear sliding surfaces are derived within the linear matrix inequalities (LMIs) framework by employing the free weighting matrices proposed in He et al. (2008) [3], by which the corresponding adaptive controller is also designed to guarantee the state variables to converge into a residual set of the origin by estimating the unknown upper bound of the uncertainties and disturbances. Also, simulation results are presented to illustrate the effectiveness of the control strategy.  相似文献   

10.
This paper is concerned with the problem of exponentially extended dissipative criteria for a class of delayed discrete-time neural networks (DNNs) subject to resilient observer-based controller design. For this objective, a memoryless full-order Luenberger state observer is designed, and further, its observer error system is calculated with resilient control. Initially, some new improved weighted summation inequalities are proposed by combining weighted summation inequality and an extended reciprocal convex matrix inequality. By constructing the suitable Lyapunov-Krasovskii functional (LKF) and utilizing the developed summation inequalities, the exponentially extended dissipative criterion is obtained for the considered delayed DNNs. The designed observer and resilient control gain matrices can be determined by solving a set of linear matrix inequalities (LMIs) subject to the prescribed exponential decay rate. Finally, two numerical examples are carried out to illustrate the feasibility and effectiveness of the established theoretical results obtained through the newly developed summation inequalities.  相似文献   

11.
多目标跟踪是视频监控等领域的一项关键技术,该文提出一种基于主颜色的多目标跟踪算法,在算法中使用主颜色描述感兴趣目标,在卡尔曼滤波器预测的基础上利用基于主颜色的mean shift算法对各目标进行跟踪,接着利用目标跟踪位置与前景blob之间的关联矩阵来推理多目标跟踪问题中的各种情况,根据不同的情况对目标的位置、大小以及颜色信息做相应的更新。对大量图像序列的测试结果表明,该算法能够较好地处理遮挡,具有稳健的跟踪效果。  相似文献   

12.
This article investigates the order-reduction method for multi-spacecraft cooperative tracking control problems considering non-uniform time delays. The tracking error system is constructed as a linear time-varying (LTV) system since the orbit of the reference point is an ellipse. To facilitate the controller design, a model transformation method is proposed to transform the LTV system into a linear time-invariant (LTI) system with norm-bounded uncertainties. By using the sliding-mode control (SMC) technique, a delay-dependent cooperative tracking controller is designed to guarantee multiple followers to track the leader. Then, an order-reduction method is proposed to reduce the order of sufficient conditions in the form of linear matrix inequalities (LMIs), which make sure that the tracking error system is asymptotically stable. A numerical example is finally provided to illustrate the effectiveness of the designed controller and the improved performance of the order-reduction method.  相似文献   

13.
卞丽 《科技通报》2012,28(4):49-51
采用了交互式多模型(IMM)算法进行目标定位跟踪。交互式多模型(IMM)作为一种数据互联算法具有自适应的特点,可以有效地对各个模型的概率进行精细地调整,尤其适用于对机动目标的定位跟踪。实验结果表明,本文提出的算法能够有效地对目标进行定位跟踪。  相似文献   

14.
The continuous finite-time nonsingular terminal sliding mode (NTSM) attitude tracking control for rigid spacecraft is investigated. Firstly, a finite-time attitude controller combined with a new adaptive update law is designed. Different from existing controllers, the proposed controller is inherently continuous and the chattering is effectively reduced. Then, an adaptive model-free finite-time state observer (AMFFTSO) and an angular velocity calculation algorithm (AVCA) are developed to estimate the unknown angular velocity. The unique feature of the proposed method is that the finite-time estimation of angular velocity is achieved and no prior knowledge of quaternion derivative upper bound is needed. Next, based on the estimated angular velocity, a finite-time attitude controller with only attitude measurement is developed. Finally, some simulations are presented and the effectiveness of the proposed control scheme is illustrated.  相似文献   

15.
This study investigates the problem of robust tracking control for interconnected nonlinear systems affected by uncertainties and external disturbances. The designed H∞ dynamic output-feedback model reference tracking controller is parameterized in terms of linear matrix inequalities (LMIs), which is formulated within a convex optimization problem readily implementable. The resolution of such a problem, guarantying not only the quadratic stability but also a prescribed performance level of the resulting closed-loop system, enables to calculate concurrently the robust decentralized control and observation gain matrices. The established LMI conditions are computed in a single-step resolution to obtain all the controller/observer parameters and therefore to overcome the problem of iterative algorithm based on a multi-stage resolution leading in most cases to conservative and suboptimal solutions. Numerical simulations on diverse applications ranging from a numerical academic example to coupled inverted double pendulums and a 3-strongly interconnected machine power system are provided to corroborate the merit of the proposed control scheme.  相似文献   

16.
This paper is concerned with the stability analysis of systems with two additive time-varying delay components in an improved delay interconnection Lyapunov–Krasovskii framework. At first, an augmented vector and some integral terms considering the additive delays information in a new way are introduced to the Lyapunov–Krasovskii functional (LKF), in which the information of the two upper bounds and the relationship between the two upper bounds and the upper bound of the total delay are both fully considered. Then, the obtained stability criterion shows advantage over the existing ones since not only an improved delay interconnection LKF is constructed but also some advanced techniques such as the free-matrix-based integral inequality and extended reciprocally convex matrix inequality are used to estimate the upper bound of the derivative of the proposed LKF. Finally, a numerical example is given to demonstrate the effectiveness and to show the superiority of the proposed method over existing results.  相似文献   

17.
In this paper, we investigate the problem of finite-time stabilization of time-varying delayed neural networks with uncertainty. By employing the Lyapunov approach and linear matrix inequalities (LMIs), two different memory controllers are derived to achieve the finite-time stabilization of the addressed neural networks. Moreover, the upper bound of the setting-time for stabilization can be estimated via different Lyapunov functions. Our results improve and extend some recent works. Finally, the effectiveness and feasibility of the proposed controllers are demonstrated by numerical simulations.  相似文献   

18.
This paper is concerned with the quantitative mean square exponential stability and stabilization for stochastic systems with Markovian switching. First, the concept of quantitative mean square exponential stability(QMSES) is introduced, and two stability criteria are derived. Then, based on an auxiliary definition of general finite-time mean square stability(GFTMSS), the relations among QMSES, GFTMSS and finite time stochastic stability (FTSS) are obtained. Subsequently, QMSE-stabilization is investigated and several new sufficient conditions for the existence of the state and observer-based controllers are provided by means of linear matrix inequalities. An algorithm is given to achieve the relation between the minimum states’ upper bound and the states’ decay velocity. Finally, a numerical example is utilized to show the merit of the proposed results.  相似文献   

19.
In this paper, we study the hybrid-triggered dynamic output feedback-based guaranteed cost control issue for uncertain Takagi-Sugeno (T-S) fuzzy networked control systems (NCSs) with cyber attack and actuator saturation. The hybrid-triggered mechanism comprising of time-triggered mechanism (TTM) and event-triggered mechanism (ETM) is provided to adjust the trigger strategy due to the variety in network resource utilization. Both the switching between two trigger mechanisms and the cyber attack phenomenon in communication network are respectively represented by two Bernoulli distributions. The data quantization is characterized by the sector bound technique and actuator saturation is addressed by invoking an auxiliary matrix. The stability of closed-loop NCSs with bounded disturbance and cyber attack is expressed by the methodology of quadratic boundedness (QB). The existence criteria and design strategies for minimizing the upper bound of performance in view of dynamic output feedback controller are constructed for any admissible uncertainties. Subsequently, in the light of the cone complementarity linearization (CCL) algorithm, the controller design issue is cast into the convex optimization issue which is capable of solving by the technique about linear matrix inequalities (LMIs). Finally, simulation example is employed to demonstrate the validity of designed controller.  相似文献   

20.
柴继贵 《科技通报》2012,28(8):72-73,76
主要研究了视频图像目标跟踪准确性问题。在基于核的颜色特征统计描述及以此建立视觉目标观测概率方法的基础上,提出了一种改进的粒子滤波视频图像目标跟踪算法。首先,本文给出了基于标准粒子滤波的单特征、单目标跟踪算法,然后针对加权样本参数的选择不同,提出改进思路,最后通过与基于均值移位视觉目标跟踪算法的实验结果对比。提出的改进的粒子滤波跟踪算法在稳健性方面有显著地提高,而且若适当选择视觉跟踪参数,在实时性方面能得到有效地保证。  相似文献   

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