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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 1020-1031页

作者： Yu Liu Lin Li School of Automation Science and Engineering South China University of TechnologyGuangzhou 510640 Research and Development Center of Precision Electronic Manufacturing Technology Guangzhou Institute of Modern Industrial TechnologyGuangzhou 511458China

In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is *** purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual *** the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded ***,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately ***,the numerical simulation results confirm the efficacy of the proposed controllers.

关键词： Actuator failures leader-follower consensus multiple flexible manipulators neural network parameter uncertainties

Fuzzy Static Output Feedback H_∞ Control for Nonlinear Systems Subject to parameter uncertainties

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Journal of Systems Science & Complexity 2018年第2期31卷 343-371页

作者： ZHAO Tao DIAN Songyi School of Electrical Engineering and Information Sichuan University

This study is concerned with the stabilization issue of nonlinear systems subject to parameter uncertainties. An interval type-2 T-S fuzzy model is used to represent the nonlinear systems subject to parameter uncertainties. An interval type-2 fuzzy static output feedback controller is designed to synthesize the interval type-2 T-S fuzzy systems. The membership-function-dependent stability conditions are derived by utilizing the information of upper and lower membership functions. The proposed stability conditions are presented in the form of linear matrix inequalities（LMIs）. LMI-based stability conditions for interval type-2 fuzzy static output feedback H_∞ control synthesis are also *** simulation examples are given to show the superiority of the proposed approach.

关键词： Interval type-2 fuzzy controller parameter uncertainties static output feedback control T-S fuzzy systems.

Global asymptotic tracking of asymmetrical underactuated surface vessels with parameter uncertainties

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控制理论与应用（英文版） 2013年第4期11卷 608-614页

作者： Wenjing XIE Hailing SUN Baoli MA School of Automation Science and Electrical Engineering Beihang University

In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples.

关键词： Asymmetrical underactuated surface vessels Trajectory tracking parameter uncertainties Lyapunovredesign

Solvability Condition for Robust Stabilization Problem of Control Systems with parameter uncertainties 

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Journal of Beijing Institute of Technology 1999年第3期8卷 258-263页

作者：伍清河北京理工大学自动控制系北京100081

Aim The solvability condition for robust stabilization problem associated with a plant family P(s,δ) having parameter uncertainty δ was considered. Methods Using Youla parameterization of the stabilizers this problem was transformed into a strong stabilization problem associated with a related plant family G (s, δ). Results A necessary solvability condition was established in terms of the parity interlacing property of each element in G(s,δ). Another apparently necessary solvability condition is that every element in P(s,δ) must be stabilizable. Conclusion The two conditions will be compared with each other and it will be shown that every element in G(s,δ) possesses parity interlacing property if P(s,δ) is stabilizable.

关键词： robust stabilization parameter uncertainties strong stabilization parity interlacing property

Robust model-reference control for descriptor linear systems subject to parameter uncertainties

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Control Theory and Technology 2007年第3期 213-220页

作者： Guangren DUAN 1, Biao ZHANG 1,2 (1.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin Heilongjiang 150001, China 2.Department of Mathematics, Harbin Institute of Technology, Harbin Heilongjiang 150001, China)

Robust model-reference control for descriptor linear systems with structural parameter uncertainties is investigated. A sufficient condition for existing a model-reference zero-error asymptotic tracking controller is given. It is shown that the robust model reference control problem can be decomposed into two subproblems: a robust state feedback stabilization problem for descriptor systems subject to parameter uncertainties and a robust compensation problem. The latter aims to find three coefficient matrices which satisfy four matrix equations and simultaneously minimize the effect of the uncertainties to the tracking error. Based on a complete parametric solution to a class of generalized Sylvester matrix equations, the robust compensation problem is converted into a minimization problem with quadratic cost and linear constraints. A numerical example shows the effect of the proposed approach.

关键词： Descriptor linear systems Model-reference control parameter uncertainties Robust stabilization Robust compensation

Topology Identification of Multiple Output Coupled Neural Networks with and without parameter uncertainties

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Topology Identification of Multiple Output Coupled Neural Ne...

第40届中国控制会议

作者： Xiao-Lu Liu Han-Yu Wu Shun-Yan Ren Yan-Li Huang School of Computer Science and Technology Tiangong University School of Mechanical Engineering Tiangong University

This paper concentrates on the research of the topology identification problem for coupled neural networks with multiple output couplings（CNNMOCs）. Based on the designed adaptive state feedback controller and coupling weight adjustment scheme, a topology identification criterion is presented. Furthermore, the case that the parameter uncertainties occur in individual neural network is also discussed. Lastly, two numerical examples are provided to demonstrate the validity of the proposed criteria.

关键词： Coupled Neural Networks Multiple Output Couplings parameter uncertainties Synchronization Topology Identification

Distributed Non-Fragile State Estimation for discrete nonlinear systems with parameter uncertainties

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Distributed Non-Fragile State Estimation for discrete nonlin...

第40届中国控制会议

作者： Ping Xu Huaiyu Wu Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

The distributed non-fragile state estimation problem is proposed for a class of discrete nonlinear systems with parameter uncertainties. Considering the parameter uncertainty of the system and the stochastic disturbance of the corresponding filter gain, a distributed non-fragile recursive state estimator is designed. Based on the strategy of linear consensus, a distributed non-fragile recursive filter is derived for each sensor node. Due to some uncertain parameters of the system, the upper bound of the filter error covariance is further derived. Then, the filter gain is obtained by minimizing the upper bound of the error covariance. Finally, an indoor localization system for mobile robots is provided to verify the proposed state estimator.

关键词： Non-fragile state estimation distributed filtering parameter uncertainties wireless sensor network

Adaptive Point Stabilization Control of Two-wheel Robot with parameter uncertainties Based on Human-simulated Intelligent Backstepping Method

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Adaptive Point Stabilization Control of Two-wheel Robot with...

第37届中国控制会议

作者： Song Ran Niu Wang Hua Pu Changwei Yin Tete Wang Tengfei Wang College of Automation Chongqing University

Aiming at the real-time optimization problems of two-wheeled robot point stabilization control with uncertain parameters, the adaptive control method based on Human-simulated Intelligence Backstepping（HSIB） control is proposed. A three-layer control structure is constructed by this method, The top layer is an intelligent decision layer that is designed based on multi-mode human-simulated intelligence. The middle layer is a backstepping adaptive current control layer designed on the basis of the dynamic model. The bottom layer is the motor actuator system. The control structure realizes the point-stabilization adaptive control of two-wheel mobile robot under uncertainty of system parameters. Through simulation and experiment, the control method proposed in this paper is compared with the conventional multi-mode human-simulated intelligent control method, and the validity of the method is proved.

关键词： Point Stabilization Two-wheel Robot Backstepping Adaptive Control parameter uncertainties

Global Stabilization of the Discrete Linear System with State Saturation and parameter uncertainties

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Global Stabilization of the Discrete Linear System with Stat...

第37届中国控制会议

作者： Wenjuan Wu College of Computer and Information Engineering Tianjin Normal University

This paper is concerned with the stabilization of a class of uncertain discrete linear system with state *** introducing two invertible matrices and a free matrix,we obtain new results to guarantee the stability of the *** on this stability criterion,the state feedback control law synthesis problem is also ***,these results can be formulated in the terms of bilinear matrix inequalities.A numerical example illustrates the effectiveness of the proposed method.

关键词： discrete linear system bilinear matrix inequalities state saturation parameter uncertainties state feedback control

Robust Stabilization of Underactuated Surface Vessels with parameter uncertainties

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Robust Stabilization of Underactuated Surface Vessels with P...

第二十九届中国控制会议

作者： ZHANG Bing,MA Baoli The Seventh Research Division,School of Automation Science and Electrical Engineering,Beihang University,Beijing,100083,P.R.China

For regulation of an underactuated surface vessel with parameter uncertainties,a simple robust sliding-mode controller is proposed yielding global exponential convergence of the vessel’s position and orientation to ***,a kinematic controller for surge and yaw velocities is designed guaranteeing global exponential convergence of states to origin despite of parameter uncertainties,then the sliding-mode controller for the true force and torque inputs is derived to ensure that the actual surge and yaw velocities converge to the desired ones in finite *** proposed control scheme is verified by simulation.

关键词： Underactuated Surface Vessel Robust Stabilization parameter uncertainties Sliding-mode Control