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第26届中国控制与决策会议

作者： Chuang Guo Jiali Qin Yanrong Ge Yangzhou Chen Beijing University of Technology Hebei Normal University

ISBN: (纸本)9781479937097

This paper presents a new framework for the formation control of nonholonomic intelligent vehicles combining the leader-follower and cascade system together. The formation model is obtained based on the leader-follower approach. The controllers are designed by using global fast terminal sliding mode control technique for the leader who tracks the reference trajectory and back-stepping method for the follower to keep the predetermined formation movement. Furthermore, the leader and follower of intelligent vehicles can be treated as every part of the cascade system, which relies on a kind of multi-platform information fusion technology to realize communication among vehicles. Simulation results show the correctness and effectiveness of the algorithm.

关键词： Formation control Nonholonomic intelligent vehicles Leader-follower cascade system

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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中国科学:技术科学英文版 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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ADRC-Based cascade Control for Low-order Nonlinear cascade systems with Time-Varying Uncertainties

ADRC-Based Cascade Control for Low-order Nonlinear Cascade S...

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第32届中国控制与决策会议

作者： Na Li Xianjun Zhang Chuantao Ni School of automation and electronic engineering Qingdao University of Science and Technology

This paper proposes a cascade control framework with active disturbance rejection controller（ADRC） for low-order nonlinear cascade systems with time-varying internal uncertainties,external unknown *** ADRC is designed to real-time deal with the total disturbance including system internal uncertainties and external unknown disturbances,where the nonlinear extended state observer（NLESO） can observe/cancel the total disturbance based feedback control ***,the observation error of linear observer and nonlinear observer is respectively discussed in order to guarantee the control precision and the discussion results indicate that the nonlinear observer which has been selected has smaller observation *** system is well controlled by introducing the virtual control variable and the control idea is consistent with the back-stepping *** validate the effectiveness of the presented scheme,numerical simulation study has been performed via *** results of simulation experiments indicate that the proposed scheme has high control accuracy,small tracking errors and strong robustness.

关键词： cascade system observation error back-stepping idea virtual control variable robustness

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Estimation of Reliability for Stress-Strength cascade Model

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Open Journal of Statistics 2016年第5期6卷 873-881页

作者： Rohit R. Mutkekar Surekha B. Munoli Goa Institute of Management Sanquelim India Department of Statistics Karnatak University Dharwad India

The study endeavors to provide statistical inference for a (1 + 1) cascade system for exponential distribution under joint effect of stress-strength attenuation factors. Estimators of reliability function are obtained using Maximum Likelihood Estimator (MLE) and Uniformly Minimum Variance Unbiased Estimator (UMVUE) of the parameters. Asymptotic distribution of the parameters is also obtained. Comparison between estimators is made using data obtained through simulation experiment.

关键词： cascade system Strength Attenuation Factor Reliability Modelling Life Testing Experiment Estimators of Reliability Function

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A Unified Stability Analysis Approach for A Class of Interconnected system

A Unified Stability Analysis Approach for A Class of Interco...

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第30届中国控制与决策会议

作者： Yong Wang Peihua Zhang Ying Wang Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering China Tobacco Henan Industrial CO.LTD

From the structural perspective,this paper investigates a new formulation of the notion of input-to-state stability（ISS）,and based on it,proposes a new stability analysis approach for a class of interconnected *** new formulation of ISS is better able to reflect the tendency of the state x（t） tracking the input u（t） and weakens the conservative of the original *** stability analysis approach provides a new way to unify treatment of ISS and iISS for the interconnected system whose loop gain is less than *** order to extend the methodology of ISS to the multi-agent systems（MAS）,this approach is also used to analyze the stability of a class of interconnected system whose loop gain is equal to identity with or without time-delay inputs.

关键词： input-to-state stability interconnected system cascade system small-gain theorem stability analysis multiagent system

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Orientation Control for Mobile Robot with Two Trailers

Orientation Control for Mobile Robot with Two Trailers

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2013年中国智能自动化学术会议

作者： Jin Cheng Yong Zhang Zhonghua Wang School of Electrical Engineering University of Jinan

The control problem for a mobile robot with two trailers is addressed in this paper.A nonlinear smooth control law for tracking of the orientations of the trailers with asymptotic stability in backward motion is firstly *** stability of the closed loop feedback system is proved with theory about cascade system and input-to-state stability and also Lypunov *** effectiveness of the proposed control law and the controller are illustrated by numeric simulation results.

关键词： Mobile robot with two trailers Asymptotic stability cascade system Input-to-state stable

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Coherent Control of Two-photon Optical Fluorescence Channels in Three-level systems

Coherent Control of Two-photon Optical Fluorescence Channels...

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第十四届全国量子光学学术会议

作者： Olga Kocharovskaya Department of Physics Texas A＆M UniversityCollege StationTexas 77843USA

＜正＞Optical fluorescence from three-level atomic systems with all three allowed transitions coherently coupled with two fields in cascade,lambda and V configurations is *** is shown that the total intensity of two-p... 详细信息

关键词： Resonant Fluorescence Two Photon Fluorescence cascade system Lambda system V system Inhomogeneous broadening

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A Trajectory Tracking Control Method for Underactuated Surface Ships

A Trajectory Tracking Control Method for Underactuated Surfa...

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第24届中国控制与决策会议

作者： LIU Yang 1,2 , GUO Chen 1 1. College of Information Science and Technology, Dalian Maritime University, Dalian 116026, China2. School of Electronic and Information Engineering, Dalian Jiaotong University, Dalian 116028, China

We proposed a nonlinear control method for trajectory tracking of underactuated surface ship. The nonlinear hydrodynamic damp and sway velocity are included in the ship model, which can stand for high speed and low speed of the ship. In kinematics loop the reference yaw angle and the reference speed are given. The nonlinear controller is designed in dynamics loop to make the error variables asymptotically stable. The stability of the closed-loop system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control method.

关键词： Underactuated Ship Trajectory Tracking Nonlinear Control cascade system

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