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Control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs

Chinese Journal of Mechanical Engineering 2011年第2期24卷 248-256页

作者： YAO Yu WANG Xiaochen HE Fenghua Control and Simulation Center Harbin Institute of Technology Harbin 150080 China

Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be *** practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available *** paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking *** parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown *** tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired *** the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is *** Lyapunov stability of closed loop systems is *** validate proposed control scheme,simulation results are provided for a two link horizontal robot *** simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the *** important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.

关键词： tracking control of robot harmonic disturbance rejection internal model principle input constraint adaptive control

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STABILIZATION OF SWITCHED LINEAR SYSTEMS WITH CONSTRAINED INPUTS

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Journal of Systems Science & Complexity 2012年第1期25卷 60-70页

作者： Wei NI Daizhan CHENG Department of Mathematics School of ScienceNanchang University Key Laboratory of Systems and Control Institute of Systems ScienceChinese Academy of Sciences

The stabilization of switched linear systems with constrained inputs （SLSCI） is considered. The authors design admissible linear state feedbacks and the switching rule which has a minimal dwell time （MDT） to stabilized the system. First, for each subsystem with constrained inputs, a stabilizing linear state feedback and an invariant set of the closed-loop system are simultaneously constructed, such that the input constraints are satisfied if and only if the closed-loop system＇s states lie inside this set. Then, by constructing a quadratic Lyapunov function for each closed-loop subsystem, an MDT is deduced and an MDT-based switching strategy is presented to ensure the stability of the switched system.

关键词： Constrained inputs dwell time stabilization switched linear system.

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ADRC BASED INPUT DISTURBANCE REJECTION FOR MINIMUM-PHASE PLANTS WITH UNKNOWN ORDERS AND/OR UNCERTAIN RELATIVE DEGREES

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Journal of Systems Science & Complexity 2012年第4期25卷 625-640页

作者： Chunzhe ZHAO Yi HUANG School of Computer Science and Engineering Chongqing Three Gorges University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

The capability of ADRC is studied for linear time-invariant SISO minimum-phase systems with unknown orders, uncertain relative degrees, and unknown input disturbances. It is proved that ADRC can reject the unknown input disturbance and guarantee the close-loop stability for the plants with unknown but bounded relative degrees. Meanwhile, some close-loop performances can be achieved. The influence of the sensor noise is also discussed. And it is demonstrated by numerical examples that one ADRC with fixed parameters can be applied to a group of plants of different orders, relative degrees, and parameters.

关键词： ADRC frequency performance sensor noise uncertain relative degree unknown input disturbance unknown order.

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Control of random Boolean networks via average sensitivity of Boolean functions

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Chinese Physics B 2011年第3期20卷 347-353页

作者：陈士剑洪奕光 Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

In this paper, we discuss how to transform the disordered phase into an ordered phase in random Boolean networks. To increase the effectiveness, a control scheme is proposed, which periodically freezes a fraction of the network based on the average sensitivity of Boolean functions of the nodes. Theoretical analysis is carried out to estimate the expected critical value of the fraction, and shows that the critical value is reduced using this scheme compared to that of randomly freezing a fraction of the nodes. Finally, the simulation is given for illustrating the effectiveness of the proposed method.

关键词： random Boolean network control average sensitivity

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Chaos Control in Random Boolean Networks by Reducing Mean Damage Percolation Rate

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Chinese Physics Letters 2011年第4期28卷 51-54页

作者： JIANG Nan CHEN Shi-Jian Department of Automation Tsinghua UniversityBeijing 100084 Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190

Chaos control in random Boolean networks is implemented by freezing part of the network to drive it from chaotic to ordered ***,controlled nodes are only viewed as passive blocks to prevent perturbation *** propose a new control method in which controlled nodes can exert an active impact on the *** nodes and frozen values are deliberately selected according to the information of connection and Boolean *** results show that the number of nodes needed to achieve control is largely reduced compared to the previous *** analysis is also given to estimate the least fraction of nodes needed to achieve control.

关键词： functions method Boolean

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TARGET AGGREGATION OF SECOND-ORDER MULTI-AGENT SYSTEMS WITH SWITCHING INTERCONNECTION

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Journal of Systems Science & Complexity 2012年第3期25卷 430-440页

作者： Youcheng LOU Yiguang HONG Guodong SHI Key Lab of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences ACCESS Linnaeus Centre School of Electrical EngineeringRoyal Institute of Technology

In this paper, the target aggregation is investigated for a multi-agent system consisting of second-order agents and multiple leaders. Sufficient conditions are proposed to make the agents approach the target set spanned by these moving leaders. With the condition on switching interconnection topologies, all mobile agents can asymptotically track the dynamical target set specified by multiple moving leaders with bounded error. Moreover, discussion on the case with static leaders is also given.

关键词： Multi-agent systems multiple leaders switching interconnection topologies target ag-gregation.

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Global output feedback stabilization of upper-triangular nonlinear time-delay systems

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控制理论与应用（英文版） 2012年第4期10卷 533-538页

作者： Guizhi MENG Kemao MA Control and Simulation Center Harbin Institute of Technology Department of Applied Mathematics Harbin University of Science and Technology

In this paper, the problem of global output feedback stabilization for a class of upper-triangular nonlinear systems with time-varying time-delay in the state is considered. The uncertain nonlinearities are assumed to be higher-order in the unmeasurable states. Based on the extended homogeneous domination approach, using a low gain observer in combi- nation with controller, the delay-independent output feedback controller makes closed-loop system globally asymptotically stable under a homogeneous growth condition.

关键词： Upper-triangular nonlinear time-delay system Lyapunov-Krasovskii functionals Globally output feed-back stabilization

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Parameterized Solution to a Class of Sylvester Matrix Equations

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International Journal of Automation and computing 2010年第4期7卷 479-483页

作者： Yu-Peng Qiao Hong-Sheng Qi Dai-Zhan Cheng Center for Control and Optimization College of Automation Science and Engineering South China University of Technology Guangzhou 510641 PRC Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 PRC

A class of formulas for converting linear matrix mappings into conventional linear mappings are presented. Using them, an easily computable numerical method for complete parameterized solutions of the Sylvester matrix equation AX - EXF = BY and its dual equation XA - FXE = YC are provided. It is also shown that the results obtained can be used easily for observer design. The method proposed in this paper is universally applicable to linear matrix equations.

关键词： Sylvester matrix equation parameterized solution Kronecker product linear matrix equation Luenberger observers

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STABILITY OF SWITCHED POLYNOMIAL SYSTEMS

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Journal of Systems Science & Complexity 2008年第3期21卷 362-377页

作者： Zhiqiang LI Yupeng QIAO Hongsheng QI Daizhan CHENG Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

This paper investigates the stability of （switched） polynomial systems. Using semi-tensor product of matrices, the paper develops two tools for testing the stability of a （switched） polynomial system. One is to convert a product of multi-variable polynomials into a canonical form, and the other is an easily verifiable sufficient condition to justify whether a multi-variable polynomial is positive definite. Using these two tools, the authors construct a polynomial function as a candidate Lyapunov function and via testing its derivative the authors provide some sufficient conditions for the global stability of polynomial systems.

关键词： Global asymptotical stability semi-tensor product switched polynomial systems

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The structure of canalizing functions

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控制理论与应用（英文版） 2010年第3期8卷 375-381页

作者： Zhiqiang LI Daizhan CHENG Department of Mathematics and Information Science Henan University of Economics and Law Zhengzhou Henan 450002 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

The structure of a canalizing function is discussed. Using a new matrix product, namely semitensor product, the logical function is expressed in its matrix form. From its matrix expression, a criterion is obtained to test whether a logical function is a canalizing function. Then a formula is obtained to calculate the number of canalizing functions. Moreover, an algorithm is presented to generate canalizing functions. Finally, some results obtained are extended to seminested canalizing functions.

关键词： Canalizing function Boolean function Seminested canalizing function

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