Liu Xiangjie

Tracking and stabilization control of WMR by dynamic feedback linearization

This paper considers the dynamic stabilization and tracking control of wheeled mobile robots (WMR) in the environments without obstacles. With reference to the dynamic model of WMR with nonholonomic constraints, a method based on the unifying framework of dynamic feedback linearization with dynamic compensator is presented for solving trajectory tracking as well as posture stabilization problems. The design procedure is discussed in the basis of dynamics model of WMR. Analysis and simulation results are provided to show the effectiveness of the designed controller.

The Research and Application of Immune Feedback Control in the Load Control System of Tube Mill

Aiming at the tube mill burthen controlled object with the characteristics of large delay, large inertia, nonlinear and time-variant, we design a tube mill burthen control system basing at fuzzy immune PID control. The system combines the cascade control with the fuzzy immune PID control, and adopts P control in the inner loop and fuzzy immune PID control in the outer loop , taking fully advantage of the cascade control, fuzzy control, immune feedback control and PID control, which makes the system have not only better track ability but also stronger robust and anti-disturbance. In order to show the superior of the control strategy, simultaneously the paper carries out cascade PID control Simulation, and the result manifests that the control effect has better regulation-quality than cascade PID control, in some sense equaling with the internal model control and Smith predictive control. But because of consisting the immune fuzzy control, its non-linear control effect is better than internal model control, Smith predictive control, PID control Cascade. Whats more, the control algorithm is very simple and practical.

Nonlinear fuzzy supervisory predictive control based on genetic algorithm

Fuzzy supervisory predictive control based on genetic algorithm optimization is proposed. For the nonlinear model, through a general objective function dynamically optimized to determine the optimal set-point for a given regulatory level, by using genetic algorithm in order to solve the nonlinear optimization problem for the setpoint, and compared with the supervisory predictive control based on linear model and nonlinear model. Simulation results show the proposed algorithm has better control performance.

Passive control for fuzzy system with time-delay

In this paper, a delay partitioning approach is introduced to solve problems of passivity and passification for continuous T-S fuzzy system with time delay. By constructing a Lyapunov-Krasovskii functional, delay-dependent passivity/passification performance conditions are formulated in terms of linear matrix inequalities(LMIs). Finally, a numerical example is used to illustrate the effectiveness of the proposed approaches which can futher reduce conservatism.