In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input saturation.To save the communication resources between th...In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input saturation.To save the communication resources between the controller and the actuators,stochastic communication protocols(SCPs)are adopted to schedule the control signal,and therefore the closed-loop system is essentially a protocol-induced switching system.A neural network(NN)-based identifier with a robust term is exploited for approximating the unknown nonlinear system,and a set of switch-based updating rules with an additional tunable parameter of NN weights are developed with the help of the gradient descent.By virtue of a novel Lyapunov function,a sufficient condition is proposed to achieve the stability of both system identification errors and the update dynamics of NN weights.Then,a value iterative ADP algorithm in an offline way is proposed to solve the optimal control of protocol-induced switching systems with saturation constraints,and the convergence is profoundly discussed in light of mathematical induction.Furthermore,an actor-critic NN scheme is developed to approximate the control law and the proposed performance index function in the framework of ADP,and the stability of the closed-loop system is analyzed in view of the Lyapunov theory.Finally,the numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.展开更多
双向工频通信系统(two way power frequency automatic communication system,TWACS)下行信号系统的特性由调制信号特性、配电变压器的传输特性和线路的传输特性决定,通过下行调制回路和传输通道幅频特性、相频特性的分析对比,提出各频...双向工频通信系统(two way power frequency automatic communication system,TWACS)下行信号系统的特性由调制信号特性、配电变压器的传输特性和线路的传输特性决定,通过下行调制回路和传输通道幅频特性、相频特性的分析对比,提出各频率特性有效频带的协调配合问题,传输通道的相频特性起决定性作用。推导出在下行调制回路中串入电阻和串入阻容串联电路的调控方法。给出1阶系统电阻的选取公式和2阶系统电阻及电容的选取公式。在满足IEEE暂态电能质量条件下,实现下行信号系统准最优控制。展开更多
The control of turbulence by dimples/pimples has drawn more and more attention. The objective of this paper is to investigate the effectiveness of the active dimples/pimples for the drag reduction in the incompressibl...The control of turbulence by dimples/pimples has drawn more and more attention. The objective of this paper is to investigate the effectiveness of the active dimples/pimples for the drag reduction in the incompressible turbulent flow. Firstly, the drag reduction by the opposition control based on active dimples/pimples at the lower wall is studied via the direct numerical simulation of the turbulent channel flow. It is found that large active dimples/pimples can not suppress the streamwise vortices significantly and thus almost no drag reduction is achieved. Small active dimples and pimples with the diameter of one fourth of the streak width can both reduce the friction drag, but pimples will induce a larger pressure drag than dimples. Then the suboptimal control scheme is examined based on small active dimples using the spanwise wall shear information only, It is shown that the friction drag decreases by about 4.5% but the total drag is only reduced by about 2.7% abated by the pressure drag. Compared with the actuation of the all-point blowing/suction or the all-point wall movement, the effectiveness of the turbulent drag reduction based on active shallow dimples is much smaller.展开更多
The missile autopilot for an interceptor with tail fins and pulse thrusters is designed via the θ-D approach. The nonlin- ear dynamic model of the pitch and yaw motion of the missile is transformed into a linear-like...The missile autopilot for an interceptor with tail fins and pulse thrusters is designed via the θ-D approach. The nonlin- ear dynamic model of the pitch and yaw motion of the missile is transformed into a linear-like structure with state-dependent coef- ficient （SDC） matrices. Based on the linear-like structure, a θ-D feedback controller is designed to steer the missile to track refer- ence acceleration commands. A sufficient condition that ensures the asymptotic stability of the tracking system is given based on Lyapunov＇s theorem. Numerical results show that the proposed autopilot achieves good tracking performance and the closed-loop tracking system is asymptotically stable.展开更多
The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along hal...The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.展开更多
In this article, affine-quadratic control problems are studied. Error bounds are derived for the difference between the performance indices corresponding to the optimal and a class of suboptimal controls. In particula...In this article, affine-quadratic control problems are studied. Error bounds are derived for the difference between the performance indices corresponding to the optimal and a class of suboptimal controls. In particular, it is shown that the performance of these suboptimal controls is close to that of the optimal control whenever the error in estimating the costate initial condition is small.展开更多
The error of single step-ahead output prediction is the information traditionally used to correct the state estimate while exploiting the new measurement of the system output.However,its dynamics and statistical prope...The error of single step-ahead output prediction is the information traditionally used to correct the state estimate while exploiting the new measurement of the system output.However,its dynamics and statistical properties can be further studied and exploited in other ways.It is known that in the case of suboptimal state estimation,this output prediction error forms a correlated sequence,hence it can be effectively predicted in real time.Such a suboptimal scenario is typical in applications where the process noise model is not known or it is uncertain.Therefore,the paper deals with the problems of analytical and empirical modeling,identification,and prediction of the output error of the suboptimal state estimator for the sake of improving the output prediction accuracy and ultimately the performance of the model predictive control.The improvements are validated on an empirical model of type 1 diabetes within an in-silico experiment focused on glycemia prediction and implementation of the MPC-based artificial pancreas.展开更多
This paper proposes a time-varying sliding mode control method to address nonlinear missile body kinematics based on the suboptimal control theory.The analytical solution of suboptimal time-varying sliding surface and...This paper proposes a time-varying sliding mode control method to address nonlinear missile body kinematics based on the suboptimal control theory.The analytical solution of suboptimal time-varying sliding surface and the corresponding suboptimal control law are obtained by solving the state-dependent Riccati equation analytically.Then,the Lyapunov method is used to analyze the motion trend in sliding surface and the asymptotic stability of the closed-loop system is validated.The suboptimal control law is transformed to the form of pseudo-angle-of-attack feedback.The simulation results indicate that the satisfactory performance can be obtained and the control law can overcome the influence of parameter errors.展开更多
基金supported in part by the Australian Research Council Discovery Early Career Researcher Award(DE200101128)Australian Research Council(DP190101557)。
文摘In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input saturation.To save the communication resources between the controller and the actuators,stochastic communication protocols(SCPs)are adopted to schedule the control signal,and therefore the closed-loop system is essentially a protocol-induced switching system.A neural network(NN)-based identifier with a robust term is exploited for approximating the unknown nonlinear system,and a set of switch-based updating rules with an additional tunable parameter of NN weights are developed with the help of the gradient descent.By virtue of a novel Lyapunov function,a sufficient condition is proposed to achieve the stability of both system identification errors and the update dynamics of NN weights.Then,a value iterative ADP algorithm in an offline way is proposed to solve the optimal control of protocol-induced switching systems with saturation constraints,and the convergence is profoundly discussed in light of mathematical induction.Furthermore,an actor-critic NN scheme is developed to approximate the control law and the proposed performance index function in the framework of ADP,and the stability of the closed-loop system is analyzed in view of the Lyapunov theory.Finally,the numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
文摘双向工频通信系统(two way power frequency automatic communication system,TWACS)下行信号系统的特性由调制信号特性、配电变压器的传输特性和线路的传输特性决定,通过下行调制回路和传输通道幅频特性、相频特性的分析对比,提出各频率特性有效频带的协调配合问题,传输通道的相频特性起决定性作用。推导出在下行调制回路中串入电阻和串入阻容串联电路的调控方法。给出1阶系统电阻的选取公式和2阶系统电阻及电容的选取公式。在满足IEEE暂态电能质量条件下,实现下行信号系统准最优控制。
基金Project supported by the National Natural Science Foun-dation of China(Grant Nos.11402088,51376062)
文摘The control of turbulence by dimples/pimples has drawn more and more attention. The objective of this paper is to investigate the effectiveness of the active dimples/pimples for the drag reduction in the incompressible turbulent flow. Firstly, the drag reduction by the opposition control based on active dimples/pimples at the lower wall is studied via the direct numerical simulation of the turbulent channel flow. It is found that large active dimples/pimples can not suppress the streamwise vortices significantly and thus almost no drag reduction is achieved. Small active dimples and pimples with the diameter of one fourth of the streak width can both reduce the friction drag, but pimples will induce a larger pressure drag than dimples. Then the suboptimal control scheme is examined based on small active dimples using the spanwise wall shear information only, It is shown that the friction drag decreases by about 4.5% but the total drag is only reduced by about 2.7% abated by the pressure drag. Compared with the actuation of the all-point blowing/suction or the all-point wall movement, the effectiveness of the turbulent drag reduction based on active shallow dimples is much smaller.
基金supported by the National Natural Science Foundation of China(61174203)the Aeronautical Science Foundation of China(20110177002)
文摘The missile autopilot for an interceptor with tail fins and pulse thrusters is designed via the θ-D approach. The nonlin- ear dynamic model of the pitch and yaw motion of the missile is transformed into a linear-like structure with state-dependent coef- ficient （SDC） matrices. Based on the linear-like structure, a θ-D feedback controller is designed to steer the missile to track refer- ence acceleration commands. A sufficient condition that ensures the asymptotic stability of the tracking system is given based on Lyapunov＇s theorem. Numerical results show that the proposed autopilot achieves good tracking performance and the closed-loop tracking system is asymptotically stable.
基金supported by the National Natural Science Foundation of China (No.61174200)
文摘The dynamics of a rotating tethered satellite system （TSS） in the vicinity of libration points are highly nonlinear and inherently unstable. In order to fulfill the station-keep control of the rotating TSS along halo orbits, a nonlinear output tracking control scheme based on the θ- D technique is proposed. Compared with the popular time-variant linear quadratic regulator （LQR） controller, this approach overcomes some limitations such as on-line computations of the algebraic Riccati equation. Besides, the obtained nonlinear suboptimal controller is in a closed form and easy to implement. Numerical simulations show that the TTS trajectories track the periodic reference orbit with low energy consumption in the presence of both tether and initial injection errors. The axis of rotation can keep pointing to an inertial specific object to fulfill an observation mission. In addition, the thrusts required by the controller are in an acceptable range and can be implemented through some low-thrust propulsion devices.
文摘In this article, affine-quadratic control problems are studied. Error bounds are derived for the difference between the performance indices corresponding to the optimal and a class of suboptimal controls. In particular, it is shown that the performance of these suboptimal controls is close to that of the optimal control whenever the error in estimating the costate initial condition is small.
基金supported by the grant VEGA 1/0049/20—Modelling and Control of Biosystems,the Ministry of Education,Science,Development and Sport of the Slovak Republic.
文摘The error of single step-ahead output prediction is the information traditionally used to correct the state estimate while exploiting the new measurement of the system output.However,its dynamics and statistical properties can be further studied and exploited in other ways.It is known that in the case of suboptimal state estimation,this output prediction error forms a correlated sequence,hence it can be effectively predicted in real time.Such a suboptimal scenario is typical in applications where the process noise model is not known or it is uncertain.Therefore,the paper deals with the problems of analytical and empirical modeling,identification,and prediction of the output error of the suboptimal state estimator for the sake of improving the output prediction accuracy and ultimately the performance of the model predictive control.The improvements are validated on an empirical model of type 1 diabetes within an in-silico experiment focused on glycemia prediction and implementation of the MPC-based artificial pancreas.
基金supported by the China Postdoctoral Science Foundation(2017M620863).
文摘This paper proposes a time-varying sliding mode control method to address nonlinear missile body kinematics based on the suboptimal control theory.The analytical solution of suboptimal time-varying sliding surface and the corresponding suboptimal control law are obtained by solving the state-dependent Riccati equation analytically.Then,the Lyapunov method is used to analyze the motion trend in sliding surface and the asymptotic stability of the closed-loop system is validated.The suboptimal control law is transformed to the form of pseudo-angle-of-attack feedback.The simulation results indicate that the satisfactory performance can be obtained and the control law can overcome the influence of parameter errors.
