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LMI-based robust control of uncertain discrete-time piecewise affine systems

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控制理论与应用（英文版） 2010年第4期8卷 496-502页

作者： Zhiyuan LIU Yahui GAO Hong CHEN Department of control Science and Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of control Science and Engineering Jilin University Changchun Jilin 130025 China

The main contribution of this paper is to present stability synthesis results for discrete-time piecewise affine （PWA） systems with polytopic time-varying uncertainties and for discrete-time PWA systems with norm-bounded uncertainties *** basic idea of the proposed approaches is to construct piecewise-quadratic （PWQ） Lyapunov functions to guarantee the stability of the closed-loop *** partition information of the PWA systems is taken into account and each polytopic operating region is outer approximated by an ellipsoid,then sufficient conditions for the robust stabilization are derived and expressed as a set of linear matrix inequalities （LMIs）.Two examples are given to illustrate the proposed theoretical results.

关键词： Discrete-time systems Linear matrix inequality Piecewise affine systems Piecewise Lyapunov function robust control

THE robust control SCHEME FOR FREE-FLOATING SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORY IN JOINTSPACE

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Acta Mechanica Solida Sinica 2001年第2期14卷 183-188页

作者： Chen Li (Department of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China) Liu Yanzhu (Department of Engineering Mechanics,Shanghai Jiaotong University, Shanghai 200030, China) ***

The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.

关键词： free-floating space maniulator augmentation approach robust control

Application of H~∞ control in rudder/flap vector robust control of a ship's course

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Journal of Marine Science and Application 2007年第3期6卷 62-67页

作者： LIU Sheng FANG Liang College of Automation Harbin Engineering University Harbin 150001 China

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.

关键词： ship course rudder/flap robust control weighting functions

Off-policy Reinforcement Learning for robust control of Discrete-time Uncertain Linear Systems 36

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Off-policy Reinforcement Learning for Robust Control of Disc...

第36届中国控制会议

作者： Yongliang Yang Zhishan Guo Donald Wunsch Yixin Yin School of Automatic and Electrical Engineering University of Science and Technology Beijing Department of Computer Science Missouri University of Science and Technology Department of Electrical and Computer Engineering Missouri University of Science and Technology

ISBN: (纸本)9781538629185

In this paper, an off-policy reinforcement learning method is developed for the robust stabilizing controller design of discrete-time uncertain linear systems. The proposed robust control design consists of two steps. First, the robust control problem is transformed to an optimal control problem. Second, the off-policy RL method is used to design the optimal control policy which guarantees the robust stability of the original system with uncertainty. The condition for the equivalence between the robust control problem and the optimal control problem is discussed. The off-policy does not require any knowledge of the system knowledge and efficiently utilize the data collected from on-line to improve the performance of approximate optimal control policy in each iteration successively. Finally, a simulation example is carried out to verify the effectiveness of the presented algorithm for the robust control problem of discrete-time linear system with uncertainty.

关键词： system uncertainty robust control optimal control off-policy trinforcement learning model-free

LMI-Based Delay-Dependent robust control for Value Bounded Uncertain Systems with Time Delay

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Wuhan University Journal of Natural Sciences 2009年第2期14卷 109-114页

作者： DENG Yanni GUI Weihua XIE Yongfang College of Information Science and Engineering Central South University Changsha 410083 Hunan China School of Automation Wuhan University of Technology Wuhan 430070 Hubei China

The present paper investigated the delay-dependent robust control for linear value bounded uncertain systems with state delay. By introducing the idea of matrix decomposition into the synthesis problem, incorporating with Lyapunov-Krasovskii functional method and adding ＂zeros＂ matrix through the correlation of each item in Newton-Leibniz formula, we present a sufficient condition via the feedback stabilization based on linear matrix inequality （LMI）. LMI is a new delay dependent condition that is much less conservative, and it guarantees that the system is robust asymptotically stable via state feedback controller. Neither the model transformation nor the bounding cross terms is employed. Finally, a numerical example is presented and it demonstrates the effectiveness of the offered method.

关键词： delay-dependent value bounded uncertainty state delay robust control linear matrix inequality (LMI)

robust control for a Class of Nonlinear Time-Delay Chaotic Systems and Application to Over-Voltage Models

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Robust Control for a Class of Nonlinear Time-Delay Chaotic S...

第25届中国控制会议

作者： Ji Guojun School of Management, Xiamen University, Xiamen, Fujian 361005

robust control problem for a class of nonlinear time-delay chaotic systems is discussed in this paper. For such uncertain systems, the input involves in the uncertainty part, the adaptive feedback controller and the novel nonlinear feedback controller are proposed. Those are both independent of the time delay and can result in the corresponding the closed-loop systems globally ultimately bounded stable based on some conditions. An example based on over-voltage model is presented and the results show the controllers are of better than past work.

关键词： robust control chaotic systems over-voltage

robust control of Systems Subject to Actuator Saturation and Disturbance

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Robust Control of Systems Subject to Actuator Saturation and...

第25届中国控制会议

作者： Gao Qing YanShan University Eletrical Engineering Institute, Qinhuangdao 066004

＜正＞In this paper the conditions to satisfy invariance of closed loop system and L2 performance of disturbance attenuation are presented for systems subject to actuator saturation and bounded disturbance. A robust state feedback controller is derived based on linear matrix inequality （LMI）. In addition, the proposed method is applied to speed controlled plant of rolling mill. It is shown from the numerical simulations that the designed robust state feedback controlled system has better performance of disturbance attenuation and robust stability and can track time-varying composite signal effectively when the saturation degree is chosen appropriately.

关键词： robust control Actuator Saturation LMI

robust control for Air-Breathing Hypersonic Cruise Vehicles

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Robust Control for Air-Breathing Hypersonic Cruise Vehicles

2013年中国智能自动化学术会议

作者： Wenbiao Zhu Beijing Aerospace Automatic control Institute National Key Laboratory of Science and Technology on Aerospace Intelligent Control Technology

The integral ramjet engine has gained wide popularity as one of the versatile air-breathing engines for hypersonic flight *** to the uniqueness of tightly integrated engine-airframe configuration,results in significant coupling between the structure,propulsion system and vehicle aerodynamics,the hypersonic flight vehicle modeling and control system design become very challenging. For air-breathing hypersonic cruise vehicles,the flight Mach number control is one of the important control system *** this paper under the condition that the air-breathing hypersonic cruise vehicle dynamics is considered,the robust Mach number controller for an air-breathing hypersonic cruise vehicle is designed by using the Hrobust control *** simulation and validation results indicate that the designed controller makes the Mach number control system have a very good performance,the designed controller meets the Mach number control system performance and robustness *** effectiveness of the presented methods is demonstrated by the simulation and validation results.

关键词： robust control Hypersonic flight vehicle Air-breathing ramjet engine Integrated engine-airframe configuration

robust control of gantry crane system with hoisting:A new solution based on wave motion

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Robust control of gantry crane system with hoisting:A new so...

2011年中国智能自动化学术会议

作者：杨唐文秦勇韩建达 Institute of Information Science Beijing Jiaotong University State Key Laboratory of Rail Traffic control and Safety Beijing Jiaotong University State Key Laboratory of Robotics Shenyang Institute of Automation

Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing control, the trolley motion and load hoisting are carefully designed here,and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres,counteracting their reverse effects on the load swing.A robust control algorithm,based on the model of the crane system,is proposed to realize the trolley and hoisting motions,allowing for load variations and parameter *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** demonstrated in the simulation experiments,it lands the load rapidly and exactly at target and stops it dead,with nearly zero swing.

关键词： gantry crane systems robust control hoisting mechanical wave concepts