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Combined indirect and direct method for adaptive fuzzy output feedback control of nonlinear system

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Journal of Systems Engineering and Electronics 2007年第1期18卷 120-124页

作者： Ding Quanxin Chen Haitong Jiang Changsheng Chen Zongji coll. of automation Engineering Beijing Univ. of Aeronautics & Astronautics Beijing 100083 P. R. China coll. of automation Engineering Nanjing Univ. of Aeronautics & Astronautics Nanjing 210016 P. R. China

A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.

关键词： Nonlinear control systems Non-affine Combined indirect and direct method Adaptive fuzzy controller High-gain observer （HGO）

Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer

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Journal of Systems Engineering and Electronics 2009年第1期20卷 146-158页

作者： Farooq M Wang Daobo Dar N. U coll. of automation Engineering Nanjing Univ. of Aeronautics & Astronautics Nanjing 210016 P. R. China coll. of Mechanical Engineering Univ. of Engineering and Technology Taxila Pakistan

An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.

关键词： force control sliding control Lyapunov stability robot end effector friction force.

Delay-dependent state feedback robust stabilization for uncertain singular time-delay systems

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Journal of Systems Engineering and Electronics 2008年第4期19卷 758-765页

作者： Gao Huanli Xu Bugong coll. of automation South China Univ. of Technology Guangzhou 510640 P. R. China

The problem of robust stabilization for uncertain singular time-delay systems is studied. First, a new delay-dependent asymptotic stability criteria for normal singular time-delay systems is given, which is less conservative. Using this result, the problem of state feedback robust stabilization for uncertain singular time-delay systems is discussed, Finally, two examples are given to illustrate the effectiveness of the results.

关键词： singular systems time-delay delay-dependent robust stabilization linear matrix inequalities（LMIs）

Trajectory linearization control of an aerospace vehicle based on RBF neural network

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Journal of Systems Engineering and Electronics 2008年第4期19卷 799-805页

作者： Xue Yali Jiang Changsheng coll. of automation Nanjing Univ. of Aeronautics and Astronautics Nanjing 210016 P. R. China

An enhanced trajectory linearization control （TLC） structure based on radial basis function neural network （RBFNN） and its application on an aerospace vehicle （ASV） flight control system are presensted. The influence of unknown disturbances and uncertainties is reduced by RBFNN thanks to its approaching ability, and a robustifying itera is used to overcome the approximate error of RBFNN. The parameters adaptive adjusting laws are designed on the Lyapunov theory. The uniform ultimate boundedness of all signals of the composite closed-loop system is proved based on Lyapunov theory. Finally, the flight control system of an ASV is designed based on the proposed method. Simulation results demonstrate the effectiveness and robustness of the designed approach.

关键词： adaptive control trajectory linearization control radial basis function neural network aerospace vehicle.

Weapon target assignment problem satisfying expected damage probabilities based on ant colony algorithm

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Journal of Systems Engineering and Electronics 2008年第5期19卷 939-944页

作者： Wang Yanxia Qian Longjun Guo Zhi Ma Lifeng coll. of automation Nanjing Univ. of Science and Technology Nanjing 210094 P. R. China

A weapon target assignment （WTA） model satisfying expected damage probabilities with an ant colony algorithm is proposed. In order to save armament resource and attack the targets effectively, the strategy of the weapon assignment is that the target with greater threat degree has higher priority to be intercepted. The effect of this WTA model is not maximizing the damage probability but satisfying the whole assignment result. Ant colony algorithm has been successfully used in many fields, especially in combination optimization. The ant colony algorithm for this WTA problem is described by analyzing path selection, pheromone update, and tabu table update. The effectiveness of the model and the algorithm is demonstrated with an example.

关键词： weapon target assignment ant colony algorithm optimization.

Engineering approach for human error probability quantification

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Journal of Systems Engineering and Electronics 2009年第5期20卷 1144-1152页

作者： Sun Zhiqiang Xie Hongwei Shi Xiujian Liu Fengqiang coll. of Mechatronics and automation National Univ. of Defense Technology Changsha 410073 P. R. China

A novel approach for engineering application to human error probability quantification is presented based on an overview of the existing human reliability analysis methods. The set of performance shaping factors is classified as two subsets of dominant factors and adjusting factors respectively. Firstly, the dominant factors are used to determine the probabilities of three behavior modes. The basic probability and its interval of human error for each behavior mode are given. Secondly, the basic probability and its interval are modified by the adjusting factors, and the total probability of human error is calculated by a total probability formula. Finally, a simple example is introduced, and the consistency and validity of the presented approach are illustrated.

关键词： human reliability assessment probabilistic risk assessment human error performance shaping factor system safety.

Robust fault detection for a class of nonlinear network control system with communication delay

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Journal of Systems Engineering and Electronics 2009年第5期20卷 1024-1030页

作者： Ai Qiangyu Liu Chunsheng Jiang Bin coll. of automation Engineering Nanjing Univ. of Aeronautics and Astronautics Nanjing 210016 P. R. China

To investigate a class of nonlinear network control system, a robust fault diagnosis method is presented based on the robust state observer. To access the objective that the designed robust filter is maximally tolerant to disturbances and sensitive to fault, the robustness and stability properties of the fault diagnosis scheme are established rigorously. Using the residual vector, a fault tolerant controller is established in order to guarantee the stability of the closed-loop system, and the controller law can be obtained by solving a set of linear matrix inequalities. Then, some relevant sufficient conditions for the existence of a solution are given by applying Lyapunov stability theory. Finally, a simulation example is performed to show the effectiveness of the proposed approach.

关键词： nonlinear network control systems robust fault detection observer linear matrix inequality.

Stability of stochastic neural networks with Markovian jumping parameters

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Journal of Systems Engineering and Electronics 2009年第3期20卷 613-618页

作者： Hua Mingang Deng Feiqi Peng Yunjian coll. of automation Science and Engineering South China Univ. of Technology Guangzhou 510640 P. R. China

The global asymptotical stability for a class of stochastic delayed neural networks （SDNNs） with Maxkovian jumping parameters is considered. By applying Lyapunov functional method and Ito＇s differential rule, new delay-dependent stability conditions are derived. All results are expressed in terms of linear matrix inequality （LMI）, and a numerical example is presented to illustrate the correctness and less conservativeness of the proposed method.

关键词： stochastic neural networks global asymptotical stability linear matrix inequality Markovian jumping parameters.

Global robust optimal sliding mode control for uncertain affine nonlinear systems

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Journal of Systems Engineering and Electronics 2009年第4期20卷 838-843页

作者： Pang Haiping Chen Xia coll. of automation and Electronic Engineering Qingdao Univ. of Science and Technology Qingdao 266042 P. R. China

The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.

关键词： robust control optimal control sliding mode control nonlinear systems uncertain systems exact linearization.