检索结果-南通市图书馆

Prescribed time control based on the periodic delayed sliding mode surface without singularities

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG Guang-Ren DUAN center for control theory and Guidance technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems

A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： Guang-Ren DUAN center for control theory and Guidance technology Harbin Institute of Technology center for control Science and technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-Ren DUAN center for control theory and Guidance technology Harbin Institute of Technology Shenzhen Key Laboratory of control theory and Intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Stabilization controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China center for control Science and technology Southern University of Science and TechnologyShenzhen 518055 center for control theory and Guidance technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

Disturbance Observer-Based Predictive Tracking control of Uncertain HOFA Cyber-Physical Systems

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1711-1713页

作者： Da-Wei Zhang Guo-Ping Liu IEEE the center for control theory and Guidance technology Harbin Institute of TechnologyHarbin 150001China the center for control Science and technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use... 详细信息

关键词： Observer Uncertain letter

Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University center for control theory and Guidance technology Harbin Institute of Technology School of Engineering The University of Newcastle Research center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

A Tutorial on Quantized Feedback control

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

Whittle’s Index Based Sensor Scheduling for Multiprocess Systems Under DoS Attacks

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Science & Complexity 2024年第1期37卷 329-350页

作者： CAI Zai DING Kemi Shenzhen Key Laboratory of control theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China.

In this paper,the authors consider how to design defensive countermeasures against DoS attacks for remote state estimation of multiprocess *** each system,a sensor will measure its state and transmits the data packets through an unreliable channel which is vulnerable to be jammed by an *** limited communication bandwidth,only a subset of sensors are allowed for data transmission,and how to select the optimal one to maximize the accuracy of remote state estimation is the focus of the proposed *** authors first formulate this problem as a Markov decision process and investigate the existence of optimal ***,the authors demonstrate the piecewise monotonicity structure of optimal *** the difficulty of obtaining an optimal policy of large-scale problems,the authors develop a suboptimal heuristic policy based on the aforementioned policy structure and Whittle’s ***,a closed form of the indices is derived in order to reduce implementation complexity of proposed scheduling policy and numerical examples are provided to illustrate the proposed developed results.

关键词： DoS attacks Kalman filter remote state estimation Whittle’s index.

Introducing cerium into TiO_(2)@MnO_(x) hollow-sphere structure for highly active photothermocatalysis degradation of ethyl acetate and NO under H_(2)O at low temperature

在线全文

学校读者我要写书评

暂无评论

Journal of Rare Earths 2024年第5期42卷 889-898,I0003页

作者： Yinming Fan Yanhong Wang Morui Li Yinian Zhu Zongqiang Zhu Shengpeng Mo Lihao Zhang Shen Tang Xiaobin Zhou Yanping Zhang Collaborative Innovation center for Water Pollution control and Water Safety in Karst Area Guilin University of TechnologyGuilin541004China The Guangxi Key Laboratory of theory and technology for Environmental Pollution control.Guilin University of technology.Guilin 541004China Technical Innovation center of Mine Geological Environmental Restoration Engineering in Southern Karst Area Nanning530022China

The CeO_(2)-TiO_(2)@MnO_(x) catalyst was prepared by the co-precipitation method and applied to the photothermocatalysis system of ethyl acetate and NO simultaneous degradation under H_(2)O at low temperature,which introduced Ce into TiO_(2)@MnO_(x) hollow sptrera *** optimum TiO_(2)/MnO_(x) ratio and Ce introducing amount were obtained in the *** of them,the NO and ethyl acetate conversion percentage of TiO_(2)@MnO_(x)(n_(Mn):n_(Ti)=40:40)is 74%and 62%at 240℃,***_(2)-TiO_(2)@MnO_(x)(n_(Mn):n_(Ce)=1:1)exhibits the best catalytic performance,its efficiency for NO conversion is 83%and the conversion of ethyl acetate reaches 72%at 240℃.In addition,it is confirmed that the Cedoped nanocomposites have more uniform dispersion through various characterization and analysis ***,these catalysts have a large specific surface area as well as a large number of surface-active oxygen and oxygen *** can further improve the catalytic performance based on the adjusted ratio of active ***,this work investigated the relationship between multi-metal interactions and catalytic performance in the presence of H_(2)***,the possible reaction pathways for the simultaneous removal of NO and ethyl acetate were explored in our system.

关键词： Photothermocatalysis Ethyl acetate NO Low temperature H_(2)O Rare earths