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Stability margin of uncertain control systems

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控制理论与应用（英文版） 2009年第4期7卷 427-432页

作者： Bin LU qinghe wu Department of Automatic Control Beijing Institute of Technology Beijing 100081 China

Achieving stability is the essential issue in the control system design. In this paper, four approaches that can be used to calculate the stability margin of the interval plant family are summarized and compared. The μ approach gives the bounds of the stability margin, and good estimation can be obtained with the numerical method. The eigenvalue approach yields accurate value, and the MATLAB＇s function robuststab sometimes provides wrong results. Since the eigenvalue approach is both accurate and computationally efficient, it is recommended for the calculation of the stability margin, while utilization of the function robuststab should be avoided due to the unreliable results it gives.

关键词： Interval plant family Stability margin Stability radius MATLAB's function robuststab

Distributed stereoscopic rotating formation control of networks of second-order agents

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Journal of Systems Engineering and Electronics 2013年第3期24卷 480-487页

作者： Li Song qinghe wu Di Yu Yinqiu Wang Key Laboratory of Complex System Intelligent Control and Decision(Ministry of Education) School of AutomationBeijing Institute of Technology School of Automation Beijing Institute of Technology

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： multi-agent system collective motion stereoscopic rotating formation control.

Consensus algorithm for multiple quadrotor systems under fixed and switching topologies

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Journal of Systems Engineering and Electronics 2013年第5期24卷 818-827页

作者： Yinqiu Wang qinghe wu Yao Wang Di Yu School of Automation Beijing Institute of Technology

The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.

关键词： consensus multiple quadrotor system high-order nonlinear system feedback linearization switching topology.

Graph Factorization Methods in Linear Formation Control 36

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Graph Factorization Methods in Linear Formation Control

ADRC based control for a class of input time delay systems

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作者： Enze Yang qinghe wu Beijing Institute of Technology

ISBN: (纸本)9781538629185

Linear formation control is the most simple formation control strategy based on relative ***,as the number of agents becomes larger,the formation graph becomes more complex and the computation will be *** Cartesian product of graphs and the factorization lemma indicates that a complex,connected graph can be decomposed as a Cartesian product of smaller graphs and the system dynamics will thus be simplified by this factorization *** work is an extension of the linear formation control strategy and has been examined effective.

关键词： Linear formation control graph factorization multiagent systems consensus Cartesian product graph Laplacian

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Journal of Systems Engineering and Electronics 2017年第6期28卷 1210-1220页

作者： Dongyang Zhang Xiaolan Yao qinghe wu Zhuoyue Song School of Automation Beijing Institute of Technology Beijing 100081 China

This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design.

关键词： time-delay system feed-forward compensation active disturbance rejection control(FFC-ADRC) tracking differentiator(TD) Lyapunov theory bound-input-bound-output(BIBO) stability

Consensus Analysis and Algorithm Design based on RLC Networks 36

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Consensus Analysis and Algorithm Design based on RLC Network...

Recent Advances of Imide-Functionalized Polymer Donors for Non-fullerene Solar Cells

第36届中国控制会议

作者： Enze Yang qinghe wu Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,we discuss the relationship between consensus on node voltage in electric networks and consensus on node value in *** to the topology of a graph,we construct two kinds of networks:an RC network and an RLC network,corresponding to single-integrator dynamics and double-integrator dynamics *** we investigate three classic problems:leader following,consensus tracking,formation maintaining using RC networks and discuss consensus of networks with switching *** upper bound of convergence speed was given in view of energy,and we found that the energy decrease of average consensus is proportional to the variance of the initial voltages of *** energy analysis in electric networks is similar to the Lyapunov *** are provided at last to demonstrate the theoretical results.

关键词： electric circuit RLC networks consensus analysis distributed control multi-agent systems leader following consensus tracking formation maintaining average consensus graph Laplacians convergence speed

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Chinese Journal of Chemistry 2024年第15期42卷 1759-1780页

作者： Huijuan Wang Songmin Mo Dongyan Li qinghe wu Department of Chemistry and Key(Guangdong-Hong Kong Joint)Laboratory for Preparation and Application of Ordered Structural Materials of Guangdong Shantou UniversityShantouGuangdong 515063China

In recent years,there has been a shift towards using non-fullerene electron acceptors in organic solar cells(osCs)as a replacement for fullerene *** change requires polymer donors that possess compatible physical properties,such as absorption range,HoMo energy level,miscibility,and ***,the high cost and poor batch-to-batch reproducibility of polymer donors also hinder future large-scale *** emphasize the need to explore alternative types of polymer *** imide-functionalized building units possess several key attributes that make their polymers highly promising for non-fullerene *** attributes include ease of synthesis,strong electron-withdrawing ability,rigid and co-planar structure,and the ability to easily tune solubility through imide side *** this review,we summarized the synthetic routes of imide building units,and the structural evolution of imide-functionalized polymer donors by focusing on the effects of polymer structure on their physical,optoelectronic,and photovoltaic *** hope that this mini-review will serve as a catalyst for future research on imide-functionalized polymers toward high-performance,cost-effective,and durable organic solar cells(oscs).

关键词： Imide Polymer donors Organic solar cells Synthetic routes Polymer structure evolution

A parameter optimization approach to robust PI-controller design for systems with interval plants

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控制理论与应用（英文版） 2008年第4期6卷 435-441页

作者： qinghe wu Bin LV Li XU Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Department of Electronics and Information Systems Akita Prefectural University 84-4 Ebinokuchi Tsuchiya Honjo Akita 015-0055 Japan

The purpose of this paper is to develop an analytic way for designing optimal PI-controllers for the interval plant family. Optimality means that the coefficient intervals of the plant stabilized by a PI-controller is maximized. It will be shown that the optimization problem can be formulated in terms of an eigenvalue minimization problem of matrix pairs of the form （H（h0, g0）, H（δ1,k, δ2,k））, where k= 1, 2, 3, 4 and both H（h0, g0） and H（δ1,k,δ2,k） are frequency independent Hurwitz-like matrices. A numerical example is provided to illustrate that optimal controller parameters can be successfully obtained by a two-dimensional search.

关键词： Interval plants Stability radius Eigenvalues PI-controller

Robust distributed control of robot formations with parameter uncertainty

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控制理论与应用（英文版） 2011年第4期9卷 513-520页

作者： Huang HUANG qinghe wu Di YU Beijing Institute of Control Engineering and Science and Technology on Space Intelligent Control Laboratory Beijing 100190 China School of Automation Beijing Institute of Technology B eijing 100081 China

This paper discusses robot formations in a distributed framework. The most important contribution is the incorporation of robustness into robot formation systems. When robots carry out tasks in a poor environment, the parameters in their models fluctuate around the nominal values, which may destroy the stability of the formation system. By modeling the group of robots as an interconnected system, we aim to develop a set of robust distributed controllers such that the overall system is robust to external disturbance as well as parameter uncertainty. Based on the graph rigidity theory, we also consider the rotation of a formation that plays an important role in real-time applications. Both simulations and real-time experiments are carried out to validate the effectiveness of the proposed framework.

关键词： Robots formation Distributed control Parameter uncertainty LMI