Chang-Yin Sun

New robust H∞ control for uncertain stochastic Markovian jumping systems with mixed delays based on decoupling method

Abstract This paper considers the problems of robust stochastic stabilization and robust H ∞ controller design for a class of stochastic Markovain jumping systems with mixed time delays and polytopic parameter uncertainties. Both the interval time-varying delay and distributed time delay are simultaneously considered. Some new delay-dependent sufficient conditions, which differs greatly from the most existing results, are obtained based on the decoupling method and some advanced techniques. A numerical example is provided to illustrate the effectiveness of the proposed criteria.

Robust attitude control of an indoor micro quadrotor with input delay

This paper addresses the problem of robust attitude control design of an indoor micro quadrotor with input delay. This delay may be induced by the data dropout of controller signals. The objective of this paper is to develop a simple robust controller design method for the quadrotor with input delay by constructing an appropriate Lyapunov-Krasvokii function. To this end, the nonlinear dynamic model of attitude of the quadrotor is modeled by a parameter uncertain linear system since the fact that both the roll angular speed and the pitch angular speed are bounded. Then, an LMI-based robust controller design method is developed by virtue of the obtained linear uncertain model with input delay and the existing techniques addressing linear uncertain time-delayed systems. The suggested controller can not only achieve the exponential stabilization of attitude of the quadrotor but also satisfy the requirement of a given H∞ performance. Finally, some numerical simulation results are also provided to illustrate the effectiveness and merit of the proposed design method.

Robust output containment control of multi-agent systems with unknown heterogeneous nonlinear uncertainties in directed networks

ABSTRACT Output containment problem for high-order nonlinear time-invariant multi-agent systems in directed networks is investigated in this paper. The output is related with the observation matrix. The dimensions of observation matrix are extended so that it is non-singular. Then the containment problem is transformed into stability problem. The model of each agent is constructed by a nominal system combined with uncertainties. A robust controller, which includes a nominal controller and a robust compensator, is proposed to achieve output containment and restrain external uncertainties. The nominal controller is based on the output feedback and the nominal system constructed by the nominal controller contains desired containment properties. The robust compensator design is based on robust signal compensation technology for restraining the effects of external disturbances. A sufficient condition on the output containment is proposed and the containment errors can be made as small as desired with the expected convergence rate. Finally, numerical simulation is presented to demonstrate the effectiveness of the control method.

Mixed H2/H∞ fuzzy proportional-spatial integral control design for a class of nonlinear distributed parameter systems

Abstract In this paper, a fuzzy feedback control design problem with a mixed H 2 / H ∞ performance is addressed by using the distributed proportional-spatial integral (P-sI) control approach for a class of nonlinear distributed parameter systems represented by semi-linear parabolic partial differential-integral equations (PDIEs). The objective of this paper is to develop a fuzzy distributed P-sI controller with a mixed H 2 / H ∞ performance index for the semi-linear parabolic PDIE system. To do this, the semi-linear parabolic PDIE system is first assumed to be exactly represented by a Takagi–Sugeno (T–S) fuzzy parabolic PDIE model in a given local domain of Hilbert space. Then, based on the T–S fuzzy PDIE model, a distributed fuzzy P-sI state feedback controller is proposed such that the closed-loop PDIE system is locally exponentially stable with a mixed H 2 / H ∞ performance. The sufficient condition on the existence of the fuzzy controller is given by using the Lyapunovs direct method, the technique of integration by parts, and vector-valued Wirtingers inequalities, and presented in terms of standard linear matrix inequalities (LMIs). Moreover, by using the existing LMI optimization techniques, a suboptimal H ∞ fuzzy controller is derived in the sense of minimizing an upper bound of a given H 2 performance function. Finally, the developed design methodology is successfully applied to feedback control of a semi-linear reaction–diffusion system with spatial integral terms.

Distributed fuzzy proportional-spatial integral control design for a class of nonlinear distributed parameter systems

The fuzzy feedback control design problem is addressed in this paper by using the distributed proportional-spatial integral (P-sI) control approach for a class of nonlinear distributed parameter systems represented by semi-linear parabolic partial differential-integral equations (PDIEs). The objective of this paper is to develop a fuzzy distributed P-sI controller for the semi-linear parabolic PDIE system such that the resulting closed-loop system is exponentially stable. To do this, the semi-linear parabolic PDIE system is first assumed to be exactly represented by a Takagi-Sugeno (T-S) fuzzy parabolic PDIE model. A new vector-valued integral inequality is established via the vector-valued Wirtingers inequality. Then, based on the T-S fuzzy PDIE model and this new integral inequality, a distributed fuzzy P-sI state feedback controller is proposed such that the closed-loop PDIE system is exponentially stable. The sufficient condition on the existence of this fuzzy controller is given in terms of a set of standard linear matrix inequalities (LMIs), which can be effectively solved by using the existing convex optimization techniques. Finally, the developed design methodology is successfully applied to solve the feedback control design of a semi-linear reaction-diffusion system with a spatial integral term.

Boundary controller design and well-posedness analysis of semi-linear parabolic PDE systems

This paper addresses the boundary control design problem of a class of nonlinear distributed parameter systems described by a scalar semi-linear parabolic partial differential equation (PDE). A simple boundary controller design is developed under the domain-averaged measurement for the PDE system. The suggested controller is easily implemented since only a boundary actuator is utilized. Based on the Lyapunov direct method and the contraction semigroup theory, it is shown that the closed-loop system is well-posed and is exponentially stable. Finally, the effectiveness of the proposed control methods is illustrated by a numerical example.

Local exponential stabilization via boundary feedback controllers for a class of unstable semi-linear parabolic distributed parameter processes

Abstract This paper addresses the problem of local exponential stabilization via boundary feedback controllers for a class of nonlinear distributed parameter processes described by a scalar semi-linear parabolic partial differential equation (PDE). Both the domain-averaged measurement form and the boundary measurement form are considered. For the boundary measurement form, the collocated boundary measurement case and the non-collocated boundary measurement case are studied, respectively. For both domain-averaged measurement case and collocated boundary measurement case, a static output feedback controller is constructed. An observer-based output feedback controller is constructed for the non-collocated boundary measurement case. It is shown by the contraction semigroup theory and the Lyapunov’s direct method that the resulting closed-loop system has a unique classical solution and is locally exponentially stable under sufficient conditions given in term of linear matrix inequalities (LMIs). The estimation of domain of attraction is also discussed for the resulting closed-loop system in this paper. Finally, the effectiveness of the proposed control methods is illustrated by a numerical example.

An EKF SLAM algorithm for mobile robot with sensor bias estimation

This paper presents an improved EKF method applied into mobile robot SLAM problem, which has taken the sensor bias problem into consideration. Mobile robot Pioneer 3 — AT is taken as the model in this paper to study on the theoretical derivation and the experimental verification. The kinematic model of Pioneer 3 — AT mobile robot is presented at first. Then the improved EKF method considering the bias estimation and compensation problem is proposed to enhance the position estimation accuracy. In the end, simulation experiments are presented to verify the effectiveness of the proposed method. The results show that the method is always effective on ensuring the estimation accuracy even though with unknown bias.

Backstepping control for quadrotor with BP neural network based thrust model

This paper presents a nonlinear backstepping control scheme for quadrotor with BP neural network based thrust model. The thrust in quadrotor system is difficult to calculate or measure, so the paper build a BP based thrust model to approximate the mapping between thrust with factors of altitude, voltage and the high level time of PWM. Through the model, the control input for each rotor can be calculate accurately to gain the desired thrust. The controller is designed by backstepping method and verified by Lyapunov stability theorem. Hovering experimental results are presented to show the effectiveness of the proposed controller.

Remaining useful life estimation for PEMFC based on monitoring data

Proton exchange membrane fuel cell (PEMFC) is a new type of clean and efficient fuel cell with wonderful prospect. In consideration of the key position of power supply in the device, estimating remaining useful life (RUL) of PEMFC has positive effects in its new stages of development. Currently, RUL estimation of industrial facilities has played an extremely important role in the field of high safety and reliability requirements. For practical systems, the state is often a stochastic process with inevitable degradation during the runtime. In truth, a large amount of data about system operation state is available, and the linear stochastic degradation model is widely applicable to stochastic degradation system. In view of this, this paper selects the proton exchange membrane fuel cell as an object of study, and the remaining useful life is estimated based on its monitoring data. At first, a brief introduction to proton exchange membrane fuel cell is covered. Then, the stochastic degradation model is built and the method of predicting the remaining life is given. At last, the RUL predicted value is obtained and the feasibility of the method is verified by the simulation results with high precision.