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nonlinear control and synchronization of a class of nonlinear coupled dynamical systems

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控制理论与应用（英文版） 2013年第4期11卷 623-628页

作者： Wenyan TANG Zhihua QU Xiaoping FAN Hui LONG School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced control and Intelligent Automation Department of Electrical Engineering and Computer Science University of Central Florida

In this paper, a control problem for a class of nonlinear coupled dynamical systems is proposed and a continuous nonlinear feedback control law is designed using direct Lyapunov method to solve the proposed control problem. Moreover, synchronization problem for a special case of this class nonlinear coupled dynamical systems is concerned. Numerical examples show the effectiveness and advantage of the designed continuous nonlinear control law and derived synchronization result.

关键词： nonlinear control Synchronization Lyapunov method

nonlinear control of Beam Halo-Chaos in Accelerator-Driven Clean Nuclear Power System

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Communications in Theoretical Physics 2002年第6期37卷 675-681页

作者： FANGJin－Qing CHENGuan－Rong 等 ChinaInstituteofAtomicEnergy P.O.Box275－27Beijing102413China DepartmentofElectronicEngineering CityUniversityofHongKongChina

Beam halo-chaos in high-current accelerators has become a key concerned issue because it can cause excessive radioactivity from the accelerators therefore significantly limits their applications in industry,medicine,and national *** general engineering methods for chaos control have been developed in recent years,but they generally are unsuccessful for beam halo-chaos suppression due to many technical *** halo-chaos is essentially a spatiotemporal chaotic motion within a high power proton *** this paper,some efficient nonlinear control methods,including wavelet function feedback control as a special nonlinear control method,are proposed for controlling beam halo-chaos under five kinds of the initial proton beam distributions (i.e.,Kapchinsky-Vladimirsky,full Gauss,3-sigma Gauss,water-bag,and parabola distributions) ***-in-cell simulations show that after control of beam halo-chaos,the beam halo strength factor is reduced to zero,and other statistical physical quantities of beam halo-chaos are doubly *** methods we developed is very effective for suppression of proton beam halo-chaos in a periodic focusing channel of *** potential application of the beam halo-chaos control in experiments is finally pointed out.

关键词： proton beam halo-chaos nonlinear control wavelet-based feadback controller

nonlinear control of Magnetically-geared Drive-trains

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维普期刊数据库

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International Journal of Automation and computing 2013年第4期10卷 319-326页

作者： Ryan Montague Chris Bingham Department of Computer Science University of York School of Engineering University of Lincoln

The paper considers certain impedimental issues related to the use of magnetic gearbox and magnetic coupling technologies in high performance servo control systems. A prototype magnetic coupling is used as a basis for demonstrating that the underlying torque transfer characteristic is significantly nonlinear when transmitted torque approaches the maximum designed pull-out torque of the device. It is shown that linear controllers for speed control proportional plus integral （PI） and position control proportional plus derivative （PD） result in acceptable performance provided the magnetic coupling operates below 80 % of designed pull-out torque. To fully compensate for the inherent nonlinearity of the torque transfer characteristic, feedback linearizing control laws and state transformations are derived resulting in exactly linear input-output characteristic for position and speed control of magnetically-geared drive-trains. With the addition of state feedback, the closed-loop dynamics for both position and speed control of a magnetically-geared drive-train can be designed to satisfy the integral of time multiplied by absolute error （ITAE） optimized linear response for a step input. Outstanding results are demonstrated through simulation and experimental real-time implementation on a demonstrator magnetically-geared drive-train.

关键词： Magnetic gears magnetic couplings linear control nonlinear control feedback linearization.

nonlinear control for Autonomous Underwater Glider Motion Based on Inverse System Method

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Journal of Shanghai Jiaotong university(Science) 2010年第6期15卷 713-718页

作者：杨海马捷 State Key Laboratory of Ocean Engineering Shanghai Jiaotong University

Autonomous underwater gliders are highly effcient,buoyancy-driven,winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition,the gliders are underactuated and diffcult to maneuver,and also dependent on their operational environment. To confront these problems and to design an effective controller,the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed,and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.

关键词： underwater glider nonlinear control inverse system method zero dynamics

Review:Recent advances in nonlinear control technologies for shape memory alloy actuators

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第5期8卷 818-829页

作者： SREEKUMAR M. SINGAPERUMAL M. NAGARAJAN T. ZOPPI M. MOLFINO R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology MadrasChennai 600 036India Laboratory of Design and Measurement for Automation and Robotics Department of Mechanics and Machines Design University of GenovaVia all'Opera Pia 15 a-16145 GenovaItaly

This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

关键词： Shape memory alloy (SMA) actuators nonlinear control Micro robots Hysteresis Position control Robotic manipulators

A Survey of Recent Results in Quantized and Event-based nonlinear control

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International Journal of Automation and computing 2015年第5期12卷 455-466页

作者： Zhong-Ping Jiang Teng-Fei Liu Polytechnic School of Engineering New York University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

Constructive nonlinear control design has undergone rapid and significant progress over the last three decades. In this paper, a review of recent results in this important field is presented with a focus on interdisciplinary topics at the interface of control,computing and communications. In particular, it is shown that the nonlinear small-gain theory provides a unified framework for solving problems of quantized feedback stabilization and event-triggered control for nonlinear systems. Some open questions in quantized and networked nonlinear control systems are discussed.

关键词： nonlinear systems nonlinear control quantized cont

Vibration suppression of speed-controlled robots with nonlinear control

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Frontiers of Mechanical Engineering 2016年第2期11卷 204-212页

作者： Paolo BOSCARIOL Alessandro GASPARETTO Dipartimento Politecnico di Ingegneria e Architettura (DPIA) University of Udine Via delle Scienze 206 Udine 33100 Italy

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot nonlinear control vibrationdamping model-free control motion control

Robust nonlinear control of spacecraft formation flying using constraint forces

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Science China(Technological Sciences) 2011年第9期54卷 2276-2282页

作者： XING JianJun TANG GuoJin CHENG WenKe LEI YongJun School of Aeronautics and Astronautics Central South University Changsha 410083 China College of Aerospace and Material Engineering National University of Defense Technology Changsha 410073 China

A robust nonlinear control method is presented for spacecraft precise formation *** the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the *** the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.

关键词： spacecraft formation flying array keeping nonlinear control Lagrangian systems constraint forces robust

The nonlinear control of simulator of hexapod parallel mechanism

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Journal of Harbin Institute of Technology(New Series) 2010年第3期17卷 393-397页

作者：潘春萍管欣卢颖梁建民 State Key Laboratory of Automobile Dynamic Simulation Jilin University Military Simulation Technology Research Institute Aviation University of Air Force

In order to enhance the innervation fidelity of simulators,a nonlinear controller is developed,which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problems of rapid tracking under the condition of the wide range,nonlinear and variable load are solved. After the nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator,the dynamic-static capabilities of motion system are tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increases and the phase lag reduces with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative (i.e. PD) controlling method in joint space. Therefore the nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.

关键词： simulators hexapod parallel mechanisms dynamics model nonlinear control irmervation' s fidelity