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基于滑模变结构控制的路径跟踪研究 预览
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作者 张华胜 宋旋漩 潘礼正 《计算机测量与控制》 2019年第11期106-109,114,共5页
为解决锅炉水冷壁磨损检测机器人的路径跟踪问题,提出了一种基于指数趋近律的滑模变结构控制的机器人路径跟踪方法;在水冷壁磨损检测机器人运动模型的基础上,进行路径跟踪误差分析,设计一种基于指数趋近律的滑模变结构控制器,再利用Lyap... 为解决锅炉水冷壁磨损检测机器人的路径跟踪问题,提出了一种基于指数趋近律的滑模变结构控制的机器人路径跟踪方法;在水冷壁磨损检测机器人运动模型的基础上,进行路径跟踪误差分析,设计一种基于指数趋近律的滑模变结构控制器,再利用Lyapunov定理验证其收敛性,最后通过MATLAB软件模拟仿真,仿真结果表明该控制器可以克服误差,使位姿误差收敛至零。 展开更多
关键词 爬壁机器人 路径跟踪 滑模控制 LYAPUNOV MATLAB
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基于疫病检测信息的布病动力学模型分析
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作者 乔瑞春 侯强 李有文 《数学的实践与认识》 北大核心 2019年第13期322-328,共7页
检测扑杀措施的实施对动物疫病的防控和净化起着决定性的作用,基于检测行为的特点,建立动力学模型来分析检测行为对布病传播的影响.首先计算基本再生数,分析平衡点的存在性;然后通过构造Lyapunov函数证明无病平衡点和地方病平衡点的全... 检测扑杀措施的实施对动物疫病的防控和净化起着决定性的作用,基于检测行为的特点,建立动力学模型来分析检测行为对布病传播的影响.首先计算基本再生数,分析平衡点的存在性;然后通过构造Lyapunov函数证明无病平衡点和地方病平衡点的全局渐近稳定性;最后通过数值模拟验证理论分析.研究成果可为布病的有效预防和控制提供一定的理论依据. 展开更多
关键词 检测 基本再生数 LYAPUNOV函数 稳定性 反证法
复杂环境下球形机器人深度控制研究 预览
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作者 赵小虎 冯迎宾 +2 位作者 何震 李智刚 王亚彪 《舰船科学技术》 北大核心 2019年第15期74-78,共5页
为使油浸式变压器内部检测机器人在巡检作业时具有较高的稳定性与机动性,分析机器人在变压器油中的受力及运动的基础上,建立机器人在变压器油中的垂向运动模型。考虑存在外界未知扰动情况,提出一种基于非线性干扰观测器的自适应反步深... 为使油浸式变压器内部检测机器人在巡检作业时具有较高的稳定性与机动性,分析机器人在变压器油中的受力及运动的基础上,建立机器人在变压器油中的垂向运动模型。考虑存在外界未知扰动情况,提出一种基于非线性干扰观测器的自适应反步深度控制器,并通过Lyapunov函数证明了控制器的稳定性。仿真实验结果表明,所设计的控制器能够准确实现目标深度控制,有效解决了机器人在复杂环境下未知干扰造成的振荡问题,具有鲁棒性好、可靠性高的特点。 展开更多
关键词 球形水下机器人 运动控制 干扰观测器 反步控制 LYAPUNOV
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Model reference adaptive control with smooth switching scheme for piecewise linear systems and its application in turbofan engine control
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作者 SUN Penghui WANG Xi +1 位作者 YANG Bei ZENG Detang 《航空动力学报》 EI CAS CSCD 北大核心 2019年第7期1615-1623,共9页
A model reference adaptive control(MRAC)with smooth switching scheme was proposed for piecewise linear systems,and the method was utilized in turbofan engine control to avoid the discontinuity of control input.In this... A model reference adaptive control(MRAC)with smooth switching scheme was proposed for piecewise linear systems,and the method was utilized in turbofan engine control to avoid the discontinuity of control input.In this scheme,each sub-region of the operating envelope had its own MRAC controller,and smooth indicator function based smooth switching scheme was introduced to switch multiple controllers smoothly at the boundary of adjacent sub-regions.The Lyapunov stability analysis indicated that the proposed smooth switching scheme can guarantee the convergence of the closed-loop system during the controllers switching.The tracking error system was converted into a switched system to analyze the global stability of the closed-loop system.The advantage of the method was that the chattering of system output and instability caused by asynchronous switching can be eliminated.The simulation illustrates the effectiveness of the proposed control scheme in comparison with the existing MRAC controller with gain scheduling for turbofan engine. 展开更多
关键词 model REFERENCE adaptive control TURBOFAN engine SMOOTH SWITCHING LYAPUNOV function DWELL time LYAPUNOV stability
水冷壁爬壁机器人路径跟踪研究 预览
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作者 宋旋漩 李静 《计算机测量与控制》 2019年第6期85-89,共5页
准确的直线运动是水冷壁爬壁机器人完成磨损检测工作的前提,为了保证其做直线运动,设计了一种水冷壁爬壁机器人路径跟踪控制律;通过建立爬壁机器人的运动学模型,用摄像机采集水冷壁图像,对图像处理并提取直线路径,实现对其位姿的反馈,... 准确的直线运动是水冷壁爬壁机器人完成磨损检测工作的前提,为了保证其做直线运动,设计了一种水冷壁爬壁机器人路径跟踪控制律;通过建立爬壁机器人的运动学模型,用摄像机采集水冷壁图像,对图像处理并提取直线路径,实现对其位姿的反馈,再根据Backstepping跟踪算法设计路径跟踪控制律对机器人位姿进行控制,同时采用Lyapunov稳定理论对控制律的收敛性进行验证,最后通过MATLAB软件进行仿真实验,仿真结果验证了控制律的有效性。 展开更多
关键词 爬壁机器人 路径跟踪 BACKSTEPPING LYAPUNOV MATLAB
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Exponential Stabilization of Euler-Bernoulli Beam with Input Time-Delay in the Boundary Control 预览
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作者 Jilong Wu Yingfeng Shang 《哈尔滨工业大学学报:英文版》 EI CAS 2019年第3期20-25,共6页
The boundary control problem of a cantilever Euler-Bernoulli beam with input time delay is considered.In order to exponentially stabilize the system, a feedback controller is adopted.And we study the well-posedness an... The boundary control problem of a cantilever Euler-Bernoulli beam with input time delay is considered.In order to exponentially stabilize the system, a feedback controller is adopted.And we study the well-posedness and exponential stability of the closed-loop system.The approach used in this paper is done by several steps.Firstly, the well-posedness of this system is proved by semi-group theory.Secondly, the asymptotical expression of eigenvalue is investigated by spectral analysis.Thirdly, the exponential stability of the system is studied by multiplier technology.Finally, numerical simulations on the dynamical behavior of the system are given to support the results obtained. 展开更多
关键词 FEEDBACK control time delay LYAPUNOV function EXPONENTIAL stability SPECTRAL analysis
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Hidden flow structures in compressible mixing layer and a quantitative analysis of entrainment based on Lagrangian method 预览
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作者 Geng Liang Bin Yu +2 位作者 Bin Zhang Hui Xu Hong Liu 《水动力学研究与进展:英文版》 SCIE EI CSCD 2019年第2期256-265,共10页
The compressible mixing layer is an important physical model to describe the mixing enhancement in scramjet combustors.The downstream coherent structures are normally regarded as the main contribution of the entrainme... The compressible mixing layer is an important physical model to describe the mixing enhancement in scramjet combustors.The downstream coherent structures are normally regarded as the main contribution of the entrainment in the compressible mixing layer.In this study,three cases of the compressible mixing layer of convective Mach number Ma=0.4 are numerically simulated through the Lagrangian coherent structure(LCS)method to show that the entrainment process in the compressible mixing layer is closely related to the upstream hidden structures termed as the"cn train me nt fbnnation structures^^.The entrainment fbrmatio n structures consist of a series of inclined control bodies that are identical and nested to one another upstream the compressible mixing layer.In combination with the separation of the flow properties of coherent structures,the entrainment characteristics in the compressible mixing layer can be evaluated by the inclined control bodies of the upstream entrainment formation structures in the upper and lower fluids.Furthermore,with the quantitative analysis of the spatial position of the upstream coherent structure,the entrainment ratio is determined.The study of the entrainment formation and its characteristics helps the effective control of the entrainment performance in the compressible mixing layer. 展开更多
关键词 COMPRESSIBLE mixing layer LAGRANGIAN coherent structure(LCS) FINITE-TIME Lyapunov exponent(FTLE)
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Model Reference Adaptive Control for Switched Systems with Closed-loop Reference Model Under Arbitrary Switching 预览
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作者 Hao Yang Jing Xie Jun Zhao 《哈尔滨工业大学学报:英文版》 EI CAS 2019年第3期35-42,共8页
This paper explores the model reference adaptive control problem for a class of switched linear systems under arbitrary switching with no need for the measurability of the system state.Based on the state of reference ... This paper explores the model reference adaptive control problem for a class of switched linear systems under arbitrary switching with no need for the measurability of the system state.Based on the state of reference model and the measurable output error, adaptive laws and controllers are designed for switched systems.Each subsystem may have its individual reference model and controller, which increases the design flexibility.The introduction of the closed-loop reference model is to get a better transient performance of the whole switched systems.A numerical example is provided to verify the effectiveness of the main results. 展开更多
关键词 SWITCHED systems MODEL REFERENCE adaptive control common Lyapunov function ARBITRARY switching the CLOSED-LOOP REFERENCE MODEL
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单杆液压执行器双侧触觉遥控操作的李雅普诺夫稳定控制器研究 预览
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作者 吕国策 《机床与液压》 北大核心 2019年第19期159-163,180共6页
液压执行器运动轨迹容易受到多种环境因素干扰,导致实际运动轨迹偏离理论运动轨迹,造成定位精度下降。对此,建立了单杆液压执行器模型简图,采用李雅普诺夫稳定控制器控制液压执行器的运动轨迹。分析了双侧遥控操作系统的动态模型,推导... 液压执行器运动轨迹容易受到多种环境因素干扰,导致实际运动轨迹偏离理论运动轨迹,造成定位精度下降。对此,建立了单杆液压执行器模型简图,采用李雅普诺夫稳定控制器控制液压执行器的运动轨迹。分析了双侧遥控操作系统的动态模型,推导了液压执行器流量非线性控制方程式,设计了单杆液压致动器双侧控制的李雅普诺夫稳定控制方案,采用数学方法对控制器的稳定性进行了证明。结合具体实例,对单杆液压执行器的运动轨迹跟踪误差进行仿真,并与传统PID控制器的跟踪误差形成对比。对误差的仿真结果表明:在受到外界波形干扰时,采用李雅普诺夫稳定控制器控制液压执行器运动轨迹,产生误差较小。液压执行器采用李雅普诺夫稳定控制器,能够提高系统运动的稳定性,降低运动轨迹产生的误差。 展开更多
关键词 单杆 液压执行器 非线性 李雅普诺夫 控制器 仿真
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多轴同步收放卷系统建模与自适应控制 预览
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作者 石贤可 温盛军 《中原工学院学报》 CAS 2019年第3期82-89,共8页
针对工业生产中广泛存在的张力控制问题,以西门子系列PLC和变频器组成的多轴同步收放卷系统为研究对象,采用动力学建模方法,建立了收放卷系统的动力学模型,并基于该模型设计了以李雅普诺夫稳定性理论为依据的模型参考自适应张力控制器。... 针对工业生产中广泛存在的张力控制问题,以西门子系列PLC和变频器组成的多轴同步收放卷系统为研究对象,采用动力学建模方法,建立了收放卷系统的动力学模型,并基于该模型设计了以李雅普诺夫稳定性理论为依据的模型参考自适应张力控制器。MATLAB仿真和实验均表明,与PID控制器相比,该模型参考自适应张力控制器在系统启动、升速以及减速阶段均具有更好的动态性能和鲁棒性。 展开更多
关键词 多轴同步 张力控制 模型参考自适应 李雅普诺夫
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Determination of the Backward Predictability Limit and Its Relationship with the Forward Predictability Limit 预览
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作者 Xuan LI Ruiqiang DING Jianping LI 《大气科学进展:英文版》 SCIE CAS CSCD 2019年第6期669-677,共9页
In this work, two types of predictability are proposed-forward and backward predictability-and then applied in the nonlinear local Lyapunov exponent approach to the Lorenz63 and Lorenz96 models to quantitatively estim... In this work, two types of predictability are proposed-forward and backward predictability-and then applied in the nonlinear local Lyapunov exponent approach to the Lorenz63 and Lorenz96 models to quantitatively estimate the local forward and backward predictability limits of states in phase space. The forward predictability mainly focuses on the forward evolution of initial errors superposed on the initial state over time, while the backward predictability is mainly concerned with when the given state can be predicted before this state happens. From the results, there is a negative correlation between the local forward and backward predictability limits. That is, the forward predictability limits are higher when the backward predictability limits are lower, and vice versa. We also find that the sum of forward and backward predictability limits of each state tends to fluctuate around the average value of sums of the forward and backward predictability limits of sufficient states.Furthermore, the average value is constant when the states are sufficient. For different chaotic systems, the average value is dependent on the chaotic systems and more complex chaotic systems get a lower average value. For a single chaotic system,the average value depends on the magnitude of initial perturbations. The average values decrease as the magnitudes of initial perturbations increase. 展开更多
关键词 nonlinear local Lyapunov EXPONENT FORWARD and BACKWARD PREDICTABILITY LIMIT negative correlation AVERAGE value
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Input-to-state stability of coupled hyperbolic PDE-ODE systems via boundary feedback control
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作者 Liguo ZHANG Jianru HAO Junfei QIAO 《中国科学:信息科学(英文版)》 SCIE EI CSCD 2019年第4期84-95,共12页
We herein investigate the boundary input-to-state stability(ISS) of a class of coupled hyperbolic partial differential equation-ordinary differential equation(PDE-ODE) systems with respect to the presence of uncertain... We herein investigate the boundary input-to-state stability(ISS) of a class of coupled hyperbolic partial differential equation-ordinary differential equation(PDE-ODE) systems with respect to the presence of uncertainties and external disturbances. The boundary feedback control of the proportional type acts on the ODE part and indirectly affects the hyperbolic PDE dynamics via the boundary input. Using the strict Lyapunov function, some sufficient conditions in terms of matrix inequalities are obtained for the boundary ISS of the closed-loop hyperbolic PDE-ODE systems. The feedback control laws are designed by combining the line search algorithm and polytopic embedding techniques. The effectiveness of the designed boundary control is assessed by applying it to the system of interconnected continuous stirred tank reactor and a plug flow reactor through a numerical simulation. 展开更多
关键词 HYPERBOLIC PDE-ODE SYSTEMS input-to-state stability boundary control LYAPUNOV function PFR-CSTR models
Nonlinear observer-based control design and experimental validation for gasoline engines with EGR
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作者 Weihai JIANG Tielong SHEN 《控制理论与技术:英文版》 EI CSCD 2019年第3期216-227,共12页
This paper presents a nonlinear observer-based control design approach for gasoline engines equipped with exhaust gas recirculation (EGR) system. A mean value engine model is designed for control which includes both t... This paper presents a nonlinear observer-based control design approach for gasoline engines equipped with exhaust gas recirculation (EGR) system. A mean value engine model is designed for control which includes both the in take manifold and exhaust manifold dynamic focused on gas mass flows. Then, the nonlinear feedback controller based on the developed model is designed for the state tracking control, and the stability of the close loop system is guaranteed by a constructed Lyapunov function. Since the exhaust manifold pressure is usually unmeasurable in the production engines, a nonlinear observer-based feedback controller is proposed by using standard sensors equipped on the engine, and the asymptotic stability of the both observer dynamic system and control dynamic system are guaranteed with Lyapunov design assisted by the detail analysis of the model. The experimental validations show that the observer-based nonlinear feedback controller is able to regulate the in take pressure and exhaust pressure state to the desired values during both the steady-state and transient conditions quickly by only using the standard sensors. 展开更多
关键词 Engine EXHAUST gas recirculation (EGR) Lyapunov design stability observer-based stabilizing control
第三型热弹Timoshenko型方程组指数衰减 预览
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作者 秦玉明 刘子丽 《数学季刊:英文版》 2019年第2期111-125,共15页
In this work,a Timoshenko system of type Ⅲ of thermoelasticity with frictional versus viscoelastic under Dirichlet-Dirichlet-Neumann boundary conditions was considered.By exploiting energy method to produce a suitabl... In this work,a Timoshenko system of type Ⅲ of thermoelasticity with frictional versus viscoelastic under Dirichlet-Dirichlet-Neumann boundary conditions was considered.By exploiting energy method to produce a suitable Lyapunov functional,we establish the global existence and exponential decay of type-Ⅲ case. 展开更多
关键词 TIMOSHENKO global existence energy DECAY MULTIPLIER method Lyapunov functional
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Stationary distribution and periodic solution of stochastic chemostat models with single-species growth on two nutrients
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作者 Miaomiao Gao Daqing Jiang Taxawar Haya 《生物数学学报:英文版》 2019年第6期23-41,共19页
In this paper,we consider two chemostat models w»th random perturbation,in which single species depends on two perfectly substitutable resources for growth.For the autonomous system,we first prove that the soluti... In this paper,we consider two chemostat models w»th random perturbation,in which single species depends on two perfectly substitutable resources for growth.For the autonomous system,we first prove that the solution of the system is positive and global.Then we establish sufficient conditions for the existence of an ergodic stationary distribu­tion by constructing appropriate Lyapunov functions-For the non-autonomous system,by using Mas'minskii theory on periodic Markov processes,we derive it admits a nontriv­ial positive periodic solution.Finally,numerical simulations are carried out to illustrate our main results. 展开更多
关键词 Chemostat model Lyapunov function stationary distribution Markov pro­cess periodic solution.
基于混沌理论的海上风力机锥体结构抗冰研究
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作者 邹锦华 李春 +1 位作者 叶柯华 许子非 《热能动力工程》 CAS CSCD 北大核心 2019年第9期173-180,共8页
为分析在风载-冰载联合作用下海上风力机塔架动力响应非线性特性,以多体动力学仿真开源软件FAST为平台,建立冰-构耦合模型,通过自编程序开发风力机海冰碰撞模块,计算NREL 5 MW风力机在安装不同锥体角度的锥体结构及未安装锥体时受海冰... 为分析在风载-冰载联合作用下海上风力机塔架动力响应非线性特性,以多体动力学仿真开源软件FAST为平台,建立冰-构耦合模型,通过自编程序开发风力机海冰碰撞模块,计算NREL 5 MW风力机在安装不同锥体角度的锥体结构及未安装锥体时受海冰激励作用下的塔顶振动特性,并基于混沌理论,采用相图法及最大Lyapunov指数法从定性与定量两个角度研究了塔顶振动信号的非线性特征。结果表明:未安装锥体及70°锥体结构时,塔顶振动具有明显的混沌特征,最大Lyapunov指数大于零,表现出非周期性的非平稳特征;随着锥体角度的降低,混沌特性减弱并消失,当锥角为40°与50°时,最大Lyapunov指数小于零,混沌特性消失,该结果与塔顶位移时域分析结果相吻合,表明锥体结构能有效减弱塔顶振动,增加风力机稳定性。 展开更多
关键词 海上风力机 锥体 非线性 海冰 混沌 李雅普诺夫指数
Analysis of chaotic climatic process in the Tarim River Basin(Ⅰ) 预览
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作者 ZuHan Liu 《寒旱区科学:英文版》 CSCD 2019年第5期340-349,共10页
Based on observational data obtained from 1961 to 2011 in the Tarim River Basin,China,we investigated the chaotic dynamics of temperature,precipitation,relative humidity,and evaporation.The main findings are as follow... Based on observational data obtained from 1961 to 2011 in the Tarim River Basin,China,we investigated the chaotic dynamics of temperature,precipitation,relative humidity,and evaporation.The main findings are as follow:(1)The four data series have significant chaotic and fractal behaviors,which are the result of the evolution of a nonlinear chaotic dynamic system.The climatic process in the Tarim River Basin also has deterministic and stochastic characteristics.(2)To describe the temperature,precipitation,relative humidity,and evaporation dynamics,at least three independent variables at daily scale are required;in terms of complexity,their order is evaporation>temperature>precipitation>relative humidity.(3)Their respective largest Lyapunov exponentλ1 shows the order of their degree of complexity is relative humidity>temperature>precipitation≈evaporation;the maximum time scales for which the four systems can be predicted are 17 days,17 days,16 days,and 16 days,if calculated separately.(4)The Kolmogorov entropy K illustrates that the complexity of the nonlinear precipitation system is much greater than that of the other three systems.Both temperature and evaporation systems exhibit weaker chaotic behavior,their predictability is better,and the degree of complexity is less than that of the other two factors. 展开更多
关键词 chaos climatic process LARGEST LYAPUNOV EXPONENT KOLMOGOROV entropy correlation dimension
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Partial stability analysis of nonlinear time-varying impulsive systems
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作者 Boulbaba Ghanmi 《生物数学学报:英文版》 2019年第6期73-98,共26页
This paper investigates the stability analysis with respect to part of the variables of nonlinear time-varying systems with impulse effect.The approach presented is based on the specially introduced piecewise continuo... This paper investigates the stability analysis with respect to part of the variables of nonlinear time-varying systems with impulse effect.The approach presented is based on the specially introduced piecewise continuous Lyapunov functions.The Lyapunov stability theorems with respect to part of the variables are generalized in the sense that the time derivatives of the Lyapunov functions are allowed to be indefinite.With the help of the notion of stable functions,asymptotic partial stability,exponential partial stability,input-to-state partial stability(ISPS)and integral input-to-state partial stability(iISPS)are considered.Three numerical examples are provided to illustrate the effectiveness of the proposed theoretical results. 展开更多
关键词 Nonlinear impulsive systems partial stability piecewise continuous scalar functions indefinite Lyapunov function input-to-state partial stability(ISPS) integral input-to-state partial stability(iISPS).
SAMPLED-DATA STATE ESTIMATION FOR NEURAL NETWORKS WITH ADDITIVE TIME–VARYING DELAYS 预览
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作者 M.SYED ALI N.GUNASEKARAN 曹进德 《数学物理学报:B辑英文版》 SCIE CSCD 2019年第1期195-213,共19页
In this paper, we consider the problem of delay-dependent stability for state estimation of neural networks with two additive time–varying delay components via sampleddata control. By constructing a suitable Lyapunov... In this paper, we consider the problem of delay-dependent stability for state estimation of neural networks with two additive time–varying delay components via sampleddata control. By constructing a suitable Lyapunov–Krasovskii functional with triple and four integral terms and by using Jensen’s inequality, a new delay-dependent stability criterion is derived in terms of linear matrix inequalities(LMIs) to ensure the asymptotic stability of the equilibrium point of the considered neural networks. Instead of the continuous measurement,the sampled measurement is used to estimate the neuron states, and a sampled-data estimator is constructed. Due to the delay-dependent method, a significant source of conservativeness that could be further reduced lies in the calculation of the time-derivative of the Lyapunov functional. The relationship between the time-varying delay and its upper bound is taken into account when estimating the upper bound of the derivative of Lyapunov functional. As a result, some less conservative stability criteria are established for systems with two successive delay components. Finally, numerical example is given to show the superiority of proposed method. 展开更多
关键词 LYAPUNOV method linear matrix INEQUALITY state estimation sample-data control TIME-VARYING DELAYS
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Robust Finite-time Synchronization of Non-identical Fractional-order Hyperchaotic Systems and Its Application in Secure Communication 预览
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作者 Hadi Delavari Milad Mohadeszadeh 《自动化学报:英文版》 CSCD 2019年第1期228-235,共8页
This paper proposes a novel adaptive sliding mode control(SMC) method for synchronization of non-identical fractional-order(FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and extern... This paper proposes a novel adaptive sliding mode control(SMC) method for synchronization of non-identical fractional-order(FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and external disturbances,finite-time synchronization between two FO chaotic and hyperchaotic systems is achieved by introducing a novel adaptive sliding mode controller(ASMC). Here in this paper, a fractional sliding surface is proposed. A stability criterion for FO nonlinear dynamic systems is introduced. Sufficient conditions to guarantee stable synchronization are given in the sense of the Lyapunov stability theorem. To tackle the uncertainties and external disturbances, appropriate adaptation laws are introduced. Particle swarm optimization(PSO) is used for estimating the controller parameters. Finally, finite-time synchronization of the FO chaotic and hyper-chaotic systems is applied to secure communication. 展开更多
关键词 Adaptive SLIDING mode control (ASMC) CHAOS synchronization FRACTIONAL order (FO) hyper-chaotic system LYAPUNOV THEOREM SECURE communication
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