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Exponential stability of impulsive jump linear systems with Markov process

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Journal of Systems Engineering and Electronics 2007年第2期18卷 304-310页

作者： Gao Liju wu yuqiang Inst. of Automation Qufu Normal Univ. Qufu 273165 P. R. China

The exponential stability is investigated for a class of continuous time linear systems with a finite state Markov chain form process and the impulsive jump at switching moments. The conditions, based on the average dwell time and the ratio of expectation of the total time running on all unstable subsystems to the expectation of the total time running on all stable subsystems,assure the exponential stability with a desired stability degree of the system irrespective of the impact of impulsive jump. The uniformly bounded result is realized for the case in which switched system is subjected to the impulsive effect of the excitation signal at some switching moments.

关键词： Jump systems Exponential stability Average dwell time Markov process.

GLOBAL ASYMPTOTIC REGULATION CONTROL FOR NONLINEAR SYSTEMS WITH iISS INVERSE DYNAMICS

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Journal of Systems Science & Complexity 2012年第2期25卷 249-261页

作者： Jiangbo YU yuqiang wu School of Automation Southeast University Institute of Automation Qufu Normal University

This paper investigates a global asymptotic regulation control problem for a class of nonlinear systems with dynamic *** requirement of a priori knowledge of control directions is removed and the inverse dynamics satisfy the weaker integral input-to-state stable *** application of the changing supply rates and the Nussbaum-type gain techniques,a partial state-feedback regulator is *** main results demonstrate that the designed controller ensures the system state converges to the origin whereas the other signals of the closed-loop system are bounded. Simulation results are illustrated to show the effectiveness of the proposed approach.

关键词： Changing supply rates input-to-state stable (ISS) integral input-to-state stable (iISS) Nussbaum-type gain unknown control directions.

Adaptive Asymptotic Tracking Control for Stochastic Nonlinear Systems with Unknown Backlash-Like Hysteresis

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Journal of Systems Science & Complexity 2022年第5期35卷 1824-1838页

作者： WANG Le SUN Wei wu yuqiang School of Mathematics Science Liaocheng UniversityLiaocheng 252000China School of Engineering Qufu Normal UniversityRizhao 276826China

In this study,an adaptive asymptotic tracking control problem is considered for stochastic nonlinear systems with unknown backlash-like *** utilizing backstepping technology and bound estimation approach,an adaptive asymptotic tracking control scheme is designed,where fuzzy systems are applied to approximate unknown function terms,the effect of hysteresis and stochastic disturbances is compensated *** proposed scheme ensures that the tracking error can asymptotically converge to zero in probability and all signals of the closed-loop system are bounded almost ***,the effectiveness of the control scheme is verified by giving a simulation example.

关键词： Adaptive fuzzy control asymptotic tracking stochastic nonlinear systems unknown backlash-like hysteresis

Control of nonholonomic systems with nonlinear unmeasured dynamics by output feedback

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控制理论与应用（英文版） 2013年第3期11卷 504-512页

作者： Yan ZHAO yuqiang wu School of Automation Southeast University Institute of Automation Qufu Normal University

This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by high-order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together with a switching control scheme, the designed controller guarantees that the closed-loop system is output feedback globally asymptotically stabilized and the states converge to zero asymptotically. A simulation example is provided to illustrate the validness of the proposed approach.

关键词： Output feedback Switching control High order Unmeasured states

Tracking Control of Uncertain High-Order Nonlinear Systems with Odd Rational Powers and the Dead-Zone Input:A Direct Fuzzy Adaptive Control Method

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Journal of Systems Science & Complexity 2022年第5期35卷 1685-1699页

作者： LIU Zhenguo SHI Yuyuan wu yuqiang School of Automation and Software Engineering Shanxi UniversityTaiyuan 030006China Institute of Automation Qufu Normal UniversityQufu 273165China

This work studies the tracking issue of uncertain nonlinear *** existence of odd rational powers,multiple unknown parameters and the dead-zone input add many difficulties for control *** procedures of the control design,by introducing an appropriate Lyapunov function,utilizing recursive control method and the inequality technique,some appropriate intermediate auxiliary control laws are designed under the hypothesis that nonlinear terms in the system are *** those nonlinear terms are unknown,by employing the powerful approximation ability of fuzzy systems,the intermediate auxiliary control laws are approximated recursively and used to construct the virtual ***,a new fuzzy adaptive tracking controller is constructed to ensure a small tracking error and the boundedness of all *** this paper,the overparameterization problem is significantly avoided since only two adaptive laws are *** and practical examples are used to verify the raised theory.

关键词： Dead-zone input direct fuzzy adaptive control uncertain systems

Output feedback adaptive control of multivariable nonlinear systems using Nussbaum gain method

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Journal of Systems Engineering and Electronics 2006年第4期17卷 829-835页

作者： Zhou Ying wu yuqiang Research Inst. of Automation Southeast Univ. Nanjing 210096 P. R. China Inst. of Automation Qufu Normal Univ. Qufu 273165 P. R. China

A new output feedback adaptive control scheme for multi-input and multi-output nonlinear systems with parametric uncertainty is presented based on the Nussbaum gain method and the backstepping approach. The high frequency gain matrix of the linear part of the system is not necessarily positive definite, but can be transformed into a lower or upper triangular matrix whose signs of diagonal dements are unknown. The new required condition for the high fi＇equency gain matrix can be easily checked for certain plants so that the proposed method is widely applicable. The global stability of the closed loop systems is guaranteed through this control scheme, at the same time the tracking error converges to zero.

关键词： backstepping method nussbaum gain global stability MIMO nonlincar systems.

Adaptive Tracking Control for Mobile Manipulators with Stochastic Disturbances

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Journal of Systems Science & Complexity 2019年第5期32卷 1393-1403页

作者： SUN Wei XIA Jianwei wu yuqiang School of Mathematics Science Liaocheng UniversityLiaocheng 252000China Key laboratory of Measurement and Control of CSE Ministry of EducationSchool of AutomationSoutheast UniversityNanjing 210096China School of Mathematics Science Liaocheng UniversityLiaocheng 252000 Institute of Automation Qufu Normal UniversityQufu 273165China

This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.

关键词： Holonomic and noholonomic constraints mobile manipulators stochastic disturbances tracking control

OUTPUT-FEEDBACK CONTROL FOR NONHOLONOMIC SYSTEMS WITH LINEAR GROWTH CONDITION

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Journal of Systems Science & Complexity 2011年第5期24卷 862-874页

作者： Guiling JU Weihai SUN yuqiang wu Department of Mathematics Armored Force Engineering Institute Beijing 100072 China. Institute of Automation Qufu Normal University Qufu 273165 China

This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.

关键词： Backstepping global asymptotic stabilization input-state scaling nonholonomic systemwith uncertainties switching control strategy.

Modeling and adaptive motion/force tracking for vertical wheel on rotating table

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Journal of Systems Engineering and Electronics 2015年第5期26卷 1060-1069页

作者： Zhongcai Zhang yuqiang wu Wei Sun School of Automation Southeast University Institute of Automation Qufu Normal University

This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the development of tracking controller,the dynamic model of the wheel in question is derived in a meticulous manner. A continuously differentiable friction model is also considered in the modeling. By exploiting the inherent cascade interconnected structure of the wheel dynamics, an adaptive motion/force tracking controller is presented guaranteeing that the trajectory tracking errors asymptotically converge to zero while the contact force tracking errors can be made small enough by tuning design parameters. Simulation results are provided to validate the effectiveness of the proposed tracking methodology.

关键词： nonholonomic system adaptive motion/force tracking mechanics model affine constraint