An adaptive iterative learning algorithm for boundary control of a coupled ODE–PDE two-link rigid–flexible manipulator     

Fangfei Cao  Jinkun Liu 《Journal of The Franklin Institute》2017,354(1):277-297

To perform repetitive tasks, this paper proposes an adaptive boundary iterative learning control (ILC) scheme for a two-link rigid–flexible manipulator with parametric uncertainties. Using Hamilton?s principle, the coupled ordinary differential equation and partial differential equation (ODE–PDE) dynamic model of the system is established. In order to drive the joints to follow desired trajectory and eliminate deformation of flexible beam simultaneously, boundary control strategy is added based on the conventional joints torque control. The adaptive iterative learning algorithm for boundary control scheme includes a proportional-derivative (PD) feedback structure and an iterative term. This novel controller is designed to deal with the unmodeled dynamics and other unknown external disturbances. Numerical simulations are provided to verify the performance of proposed controller in MATLAB.  相似文献   

Optimal beamforming-selection spatial precoding using population-based stochastic optimization for massive wireless MIMO communication systems     

Ju-Hong Lee  Jing-Yen Lee 《Journal of The Franklin Institute》2017,354(10):4247-4272

The beamforming-based spatial precoding (BBSP) method has been proposed to reduce the overheads of the downlink training and the channel state information feedback in the frequency-division duplex (FDD) massive multiple-input-multiple-output (MIMO) wireless communication systems. However, the original BBSP method suffers from the interference problem at user equipments (UEs) because of using a set of pre-defined fixed beamforming coefficients. Moreover, the BBSP method can not deal with the performance degradation due to mutual coupling (MC) effect because of massive antennas deployed at transmitter and receiver. This paper presents a precoding method that incorporates a beamforming-selection spatial precoding (BSSP) scheme with a population-based stochastic optimization algorithm such that the designed beamforming coefficients can greatly reduce the severe interference between UEs and alleviate the MC effect on the performance of massive MIMO systems. The proposed method can not only achieve better bit error rate (BER) performance than the conventional BBSP method, but also preserves the advantages of the BBSP method having lower overheads of the downlink training and the CSI feedback. In particular, we propose an appropriate fitness function based on an averaged BER formula for the population-based stochastic optimization algorithm to find the optimal beamforming coefficients. Numerical simulations are also presented for both the urban-macro and the urban-micro wireless MIMO scenarios to validate the superior BER performance of the proposed precoding method as compared to the existing BBSP method.  相似文献   

Synchronization of coupled heterogeneous complex networks     

Zhengxin Wang  Guoping Jiang  Wenwu Yu  Wangli He  Jinde Cao  Min Xiao 《Journal of The Franklin Institute》2017,354(10):4102-4125

By only designing the internal coupling, quasi synchronization of heterogeneous complex networks coupled by N nonidentical Duffing-type oscillators without any external controller is investigated in this paper. To achieve quasi synchronization, the average of states of all nodes is designed as the virtual target. Heterogeneous complex networks with two kinds of nonlinear node dynamics are analyzed firstly. Some sufficient conditions on quasi synchronization are obtained without designing any external controller. Quasi synchronization means that the states of all nonidentical nodes will keep a bounded error with the virtual target. Then the heterogeneous complex network with impulsive coupling which means the network only has coupling at some discrete impulsive instants, is further discussed. Some sufficient conditions on heterogeneous complex network with impulsive coupling are derived. Based on these results, heterogeneous complex network can still reach quasi synchronization even if its nodes are only coupled at discrete impulsive instants. Finally, two examples are provided to verify the theoretical results.  相似文献   

Design of H2 (H∞)-based optimal structured and sparse static output feedback gains     

Ahmadreza Argha  Li Li  Steven W. Su 《Journal of The Franklin Institute》2017,354(10):4156-4178

  相似文献   

Adaptive fault-tolerant shape control for nonlinear Lipschitz stochastic distribution systems     

Gang Li  Qing Zhao 《Journal of The Franklin Institute》2017,354(10):4013-4033

This paper addresses the problem of adaptive fault estimation and fault-tolerant control for a class of nonlinear non-Gaussian stochastic systems subject to time-varying loss of control effectiveness faults. In this work, time-varying faults, Lipschitz nonlinear property and general stochastic characteristics are taken into consideration in a unified framework. Instead of using the system output signal, the output distribution is adopted for shape control. Both the states and faults are simultaneously estimated by an adaptive observer. Then, a fault tolerant shape controller is designed to compensate for the faults and realize stochastic output distribution tracking. Both the fault estimation and the fault tolerant control schemes are designed based on linear matrix inequality (LMI) technique. Satisfactory performance has been obtained for a numerical simulation example. Furthermore the proposed scheme is successfully tested in a case study of particle size distribution control for an emulsion polymerization reactor.  相似文献   

Chaotification of a class of linear switching systems based on a Shilnikov criterion     

Yuping Zhang  Peng Shi  Cheng-Chew Lim  Hong Zhu  Jiangping Hu  Yong Zeng 《Journal of The Franklin Institute》2017,354(13):5519-5536

This paper proposes an approach for constructing and generating chaos from a class of three-dimensional linear switching systems via a heteroclinic loop based on the Shilnikov criterion. First, the existence of a switching rule for the system is derived by utilizing the Shilnikov heteroclinic criterion. Then a general design philosophy and its procedure of switching rule are provided to ensure that the proposed approach is applicable to engineering. Two numerical examples are presented to validate the main principle and the implementability of the scheme. Theoretical analysis and numerical simulation are used to demonstrate the feasibility and effectiveness of developed techniques.  相似文献   

Observer design for a class of nonlinear fractional-order systems with unknown input     

Shulan Kong  Mehrdad Saif  Bing Liu 《Journal of The Franklin Institute》2017,354(13):5503-5518

A full order fractional-order observer is designed for a class of Lipschitz continuous-time nonlinear fractional-order systems with unknown input. Sufficient conditions of existence for the designed observer and stability of state estimation error system are developed by reconstructing state and using general quadratic Lyapunov function. By applying fractional-order extension of Lyapunov direct method, the stability of the fractional-order state estimation error system is analyzed. Due to the conditions involving a nonlinear matrix inequality, a new sufficient condition with linear matrix inequality (LMI) is reformulated, which makes the full order fractional-order observer implemented easily by using Matlab LMI toolbox. Examples are taken to show the effectiveness of the proposed approach by numerical simulations.  相似文献   

A clustering algorithm based TS fuzzy model for tracking dynamical system data     

Tanmoy Dam  Alok Kanti Deb 《Journal of The Franklin Institute》2017,354(13):5617-5645

This paper presents an optimal fuzzy partition based Takagi Sugeno Fuzzy Model (TSFM) in which a novel clustering algorithm, known as Modified Fuzzy C-Regression Model (MFCRM), has been proposed. The objective function of MFCRM algorithm has been developed by considering of geometrical structure of input data and linear functional relation between input–output data. The MFCRM partitions the data space to create fuzzy subspaces (rules). A new validation criterion has been developed for detecting the right number of rules (subspaces) in a given data set. The obtained fuzzy partition is used to build the fuzzy structure and identify the premise parameters. Once, right number of rules and premise parameters have been identified, then consequent parameters have been identified by orthogonal least square (OLS) approach. The cluster validation index has been tested on synthetic data set. The effectiveness of MFCRM based TSFM has been validated on benchmark examples, such as Boiler Turbine system, Mackey–Glass time series data and Box–Jenkins model. The model performance is also validated through high-dimensional data such as Auto-MPG data and Boston Housing data.  相似文献   

Finite-horizon H∞-consensus control for multi-agent systems with random parameters: The local condition case     

Fei Han  Guoliang Wei  Dedui Ding  Yan Song 《Journal of The Franklin Institute》2017,354(14):6078-6097

This paper is concerned with the distributed H_∞-consensus control problem over the finite horizon for a class of discrete time-varying multi-agent systems with random parameters. First, by utilizing the proposed information matrix, a new formula is established to calculate the weighted covariance matrix of random matrix. Next, by allowing every agent to track the average of the neighbor agents, a novel local H_∞-consensus performance constraint is presented to cater to the local performance analysis. Then, by means of the proposed definition of the stochastic vector dissipativity-like over the finite horizon, a set of sufficient conditions for every agent is obtained such that the controlled outputs of the closed-loop multi-agent systems satisfy the proposed H_∞-consensus performance constraint. As a result, the proposed consensus control algorithm can be executed on each agent in an indeed distributed manner. Finally, a simulation example is employed to verify the effectiveness of the proposed algorithm.  相似文献   

Adaptive control of output feedback nonlinear systems with unmodeled dynamics and output constraint     

Ningning Wang  Tianping Zhang  Yang Yi  Qin Wang 《Journal of The Franklin Institute》2017,354(13):5176-5200

This paper is concerned with the adaptive control problem of a class of output feedback nonlinear systems with unmodeled dynamics and output constraint. Two dynamic surface control design approaches based on integral barrier Lyapunov function are proposed to design controller ensuring both desired tracking performance and constraint satisfaction. The radial basis function neural networks are utilized to approximate unknown nonlinear continuous functions. K-filters and dynamic signal are introduced to estimate the unmeasured states and deal with the dynamic uncertainties, respectively. By theoretical analysis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded, while the output constraint is never violated. Simulation results demonstrate the effectiveness of the proposed approaches.  相似文献