This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for th...This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.展开更多
This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, whi...This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.展开更多
可再生能源大规模、高密度的接入显著改变了电力系统静/动态特性,对系统建模、仿真、分析和控制带来了挑战。该文针对含不确定性的电力系统稳定性分析问题,引入微分包含理论,建立一种随机激励下电力系统低频振荡分析模型。针对含不确定...可再生能源大规模、高密度的接入显著改变了电力系统静/动态特性,对系统建模、仿真、分析和控制带来了挑战。该文针对含不确定性的电力系统稳定性分析问题,引入微分包含理论,建立一种随机激励下电力系统低频振荡分析模型。针对含不确定性的电力系统稳定性问题,采用线性多胞体(polytopic linear differential inclusion,PLDI)微分方法,将包含不确定性的随机激励表征为有限个元素的凸包。基于凸包李雅谱诺夫(Lyapunov)函数法推导多胞体系统稳定判据,并给出强阻尼系统约束条件;进而,基于Hankel范数逼近法,给出一种适用于大规模柔性互联系统的低频振荡分析方法。以简单两机系统、10机39节点系统验证所提出方法及稳定判据。仿真结果表明,该文所提方法能准确地刻画随机激励下的电力系统本质。展开更多
Compared with the traditional consensus problem, this paper deals with the mean square average generalized consensus(MSAGC) of multi-agent systems under fixed directed topology, where all agents are affected by stocha...Compared with the traditional consensus problem, this paper deals with the mean square average generalized consensus(MSAGC) of multi-agent systems under fixed directed topology, where all agents are affected by stochastic disturbances. Distributed protocol depending on delayed time information from neighbors is designed. Based on Lyapunov stability theory, together with results from matrix theory and It o s derivation theory, the linear matrix inequalities approach is used to establish sufficient conditions to ensure MSAGC of multi-agent systems. Finally, numerical simulations are provided to illustrate the theoretical results.展开更多
In this paper, global synchronization of general delayed complex networks with stochastic disturbances, which is a zero-mean real scalar Wiener process, is investigated. The networks under consideration are continuous...In this paper, global synchronization of general delayed complex networks with stochastic disturbances, which is a zero-mean real scalar Wiener process, is investigated. The networks under consideration are continuous-time networks with time-varying delay. Based on the stochastic Lyapunov stability theory, Ito＇s differential rule and the linear matrix inequality （LMI） optimization technique, several delay-dependent synchronous criteria are established, which guarantee the asymptotical mean-square synchronization of drive networks and response networks with stochastic disturbances. The criteria are expressed in terms of LMI, which can be easily solved using the Matlab LMI Control Toolbox. Finally, two examples show the effectiveness and feasibility of the proposed synchronous conditions.展开更多
In this paper, the H∞ synchronization is intensively investigated for general delayed complex dynamical networks. The network under consideration contains unknown but bounded nonlinear coupling functions, time-varyin...In this paper, the H∞ synchronization is intensively investigated for general delayed complex dynamical networks. The network under consideration contains unknown but bounded nonlinear coupling functions, time-varying delay, external distur- bances, and lt6-type stochastic disturbances, which is a zero-mean real scalar Wiener process. Based on the stochastic Lyapunov stability theory, Ito＇s differential rule, and linear matrix inequality （LMI） optimization technique, some delay-dependent H∞ synchro- nization schemes are established, which guarantee robust stochas- tically mean square asymptotically synchronization for drive net- work and noise-perturbed response network as well as achieving a prescribed stochastic robust H∞ performance level. Finally, de- tailed and satisfactory numerical results have validated the feasi- bility and the correctness of the proposed techniques.展开更多
文摘This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.
基金supported by the National Natural Science Foundation of China under Grant Nos.61603170,61573177,61773191 and 61673243the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities under Grant No.ZR2016JL025
文摘This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.
文摘可再生能源大规模、高密度的接入显著改变了电力系统静/动态特性,对系统建模、仿真、分析和控制带来了挑战。该文针对含不确定性的电力系统稳定性分析问题,引入微分包含理论,建立一种随机激励下电力系统低频振荡分析模型。针对含不确定性的电力系统稳定性问题,采用线性多胞体(polytopic linear differential inclusion,PLDI)微分方法,将包含不确定性的随机激励表征为有限个元素的凸包。基于凸包李雅谱诺夫(Lyapunov)函数法推导多胞体系统稳定判据,并给出强阻尼系统约束条件;进而,基于Hankel范数逼近法,给出一种适用于大规模柔性互联系统的低频振荡分析方法。以简单两机系统、10机39节点系统验证所提出方法及稳定判据。仿真结果表明,该文所提方法能准确地刻画随机激励下的电力系统本质。
基金supported by the Natural Science Foundation of Jiangsu Province under Grant No.BK20161126the Prospective Research Project of Jiangsu Province under Grant No.BY2016022-17
文摘Compared with the traditional consensus problem, this paper deals with the mean square average generalized consensus(MSAGC) of multi-agent systems under fixed directed topology, where all agents are affected by stochastic disturbances. Distributed protocol depending on delayed time information from neighbors is designed. Based on Lyapunov stability theory, together with results from matrix theory and It o s derivation theory, the linear matrix inequalities approach is used to establish sufficient conditions to ensure MSAGC of multi-agent systems. Finally, numerical simulations are provided to illustrate the theoretical results.
基金supported by the National Natural Science Foundation of China (Grant No. 60904060)the Open Foundation of Hubei Province Key Laboratory of Systems Science in Metallurgical Process,China (Grant No. C201010)
文摘In this paper, global synchronization of general delayed complex networks with stochastic disturbances, which is a zero-mean real scalar Wiener process, is investigated. The networks under consideration are continuous-time networks with time-varying delay. Based on the stochastic Lyapunov stability theory, Ito＇s differential rule and the linear matrix inequality （LMI） optimization technique, several delay-dependent synchronous criteria are established, which guarantee the asymptotical mean-square synchronization of drive networks and response networks with stochastic disturbances. The criteria are expressed in terms of LMI, which can be easily solved using the Matlab LMI Control Toolbox. Finally, two examples show the effectiveness and feasibility of the proposed synchronous conditions.
基金Supported by the National Natural Science Foundation of China(6090406061104127)
文摘In this paper, the H∞ synchronization is intensively investigated for general delayed complex dynamical networks. The network under consideration contains unknown but bounded nonlinear coupling functions, time-varying delay, external distur- bances, and lt6-type stochastic disturbances, which is a zero-mean real scalar Wiener process. Based on the stochastic Lyapunov stability theory, Ito＇s differential rule, and linear matrix inequality （LMI） optimization technique, some delay-dependent H∞ synchro- nization schemes are established, which guarantee robust stochas- tically mean square asymptotically synchronization for drive net- work and noise-perturbed response network as well as achieving a prescribed stochastic robust H∞ performance level. Finally, de- tailed and satisfactory numerical results have validated the feasi- bility and the correctness of the proposed techniques.
