Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 4, Issue 11, November 2010
Volumes & issues:
Volume 4, Issue 11
November 2010
-
- Author(s): Y. Niu ; D.W.C. Ho ; Z. Wang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2245 –2251
- DOI: 10.1049/iet-cta.2009.0296
- Type: Article
- + Show details - Hide details
-
p.
2245
–2251
(7)
In this study, the sliding mode control problem is considered for discrete-time systems. Firstly, some existing definitions on the quasi-sliding mode and reaching condition are examined. A new reaching law is proposed and the corresponding reachability is investigated. Comparisons between the proposed strategies and some existing works are also made. Finally, illustrative simulation results are provided. - Author(s): F. Rasool and S.K. Nguang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2252 –2262
- DOI: 10.1049/iet-cta.2009.0222
- Type: Article
- + Show details - Hide details
-
p.
2252
–2262
(11)
In this study, a stability criterion and robust ℋ∞ mode delay-dependent quantised dynamic output feedback controller design problem for discrete-time systems with random communication delays, packet dropouts and quantisation errors are investigated. Random communication delays from the sensor to controller network are modelled using a finite-state Markov chain with a special transition probability. A logarithmic quantiser is used to quantise the measured output. The Lyapunov–Krasovskii (L–K) functional approach is used to derive the stochastic stability criterion for the system with a given attenuation level. Sufficient conditions for the existence of an output feedback controller is formulated in terms of bilinear matrix inequalities (BMIs). Owing to the special transition probability matrix, a new slack matrix is added to BMIs to relax the sufficient conditions for the existence of an output feedback controller. Furthermore, an iterative algorithm is used to convert the BMIs into the quasi-convex optimisation problem which can be solved easily. An example is given to demonstrate the effectiveness of the proposed design. - Author(s): A. Probst ; M.E. Magaña ; O. Sawodny
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2263 –2272
- DOI: 10.1049/iet-cta.2009.0339
- Type: Article
- + Show details - Hide details
-
p.
2263
–2272
(10)
This study presents an effective algorithm to handle time delays in a feedback control loop in which both the measurement signals and the control signals are sent through a network where random time delays and packet loss occur. A method is developed to estimate the random time delay when no time stamps are present. Specifically, a Padé approximation is used to model time delay in the frequency domain, which can then be estimated by a Kalman filter. The method is applied to an inverted pendulum, where its effects are illustrated. - Author(s): J. Zhang ; Y. Xia ; E.K. Boukas
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2273 –2284
- DOI: 10.1049/iet-cta.2009.0231
- Type: Article
- + Show details - Hide details
-
p.
2273
–2284
(12)
This study investigates the H∞ control problem for a class of continuous-time Markovian jump singular systems. The authors' attention is focused on the design of state and static output feedback controllers which ensure that the closed-loop system is regular, impulse-free and stochastically stable, and satisfies a prescribed H∞ performance level. To investigate the problem of H∞ performance analysis for the system under consideration, a bounded real lemma (BRL) is provided in terms of linear matrix inequality (LMI) containing equality constraints, which may not be a problem from the theoretical point of view, but may cause great big trouble in checking the conditions numerically. To solve this problem, a new version of BRL is also provided in terms of strict LMIs. Based on this, two approaches are established to solve the problem of state feedback H∞ control, and then, the problem of static output feedback H∞ control is solved, which can also be used for solving the dynamic output feedback control problems. Finally, two numerical examples are given to illustrate the effectiveness of the obtained theoretical results. - Author(s): H.K. Lam
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2285 –2292
- DOI: 10.1049/iet-cta.2009.0328
- Type: Article
- + Show details - Hide details
-
p.
2285
–2292
(8)
This study presents the synchronisation of two chaotic systems, namely drive and response chaotic systems, using polynomial controllers. Both output and full state-feedback polynomial controllers are proposed, respectively, to drive the system states of the response system to approach those of the drive one. The system stability of the overall system is investigated by the Lyapunov stability theory. Stability conditions in terms of sum of squares (SOS) are derived to aid the design of the feedback gains of the polynomial controllers. By satisfying the SOS-based stability conditions, chaotic synchronisation is achieved with system performance guaranteed by an H∞ performance function. Simulation examples are given to illustrate the merits of the proposed polynomial control approach. - Author(s): J.-C. Lo and J.-R. Wan
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2293 –2302
- DOI: 10.1049/iet-cta.2009.0192
- Type: Article
- + Show details - Hide details
-
p.
2293
–2302
(10)
In this study, the authors investigate a relaxed condition characterised by parameter-dependent linear matrix inequality (PD-LMI) in terms of firing strength belonging to the unit simplex, exploiting the algebraic property of Pólya's theorem to construct a family of finite-dimensional LMI relaxations. The main contribution of this study is that sets of relaxed LMI are parameterised in terms of the polynomial degree d. As d increases, progressively less conservative LMI conditions are generated, being easier satisfied owing to more freedom provided by new variables involved. Another protruding feature is that a verifiable necessary condition is derived. Furthermore, the new relaxation results for PD-LMI is shown to include and generalise all previous results on quadratic (common P) stability approach. Lastly, numerical experiments for illustrating the advantage of relaxation, being less conservative and effective, are provided. - Author(s): H. Zhao ; M. Zhong ; M. Zhang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2303 –2314
- DOI: 10.1049/iet-cta.2009.0215
- Type: Article
- + Show details - Hide details
-
p.
2303
–2314
(12)
This study deals with the problem of H∞ fault detection for linear discrete time-varying systems with delayed state in the framework of H∞ filtering. The design of the H∞ fault detection filter (FDF) is firstly converted into the minimum problem of an indefinite quadratic form. After introducing a corresponding Krein space stochastic system and building a relationship with projection, a sufficient and necessary condition on the existence of the minimum is derived by applying innovation analysis. A solution to the H∞-FDF is obtained in terms of matrix difference equations. Numerical examples are given to demonstrate the effectiveness of the proposed method. - Author(s): J. Qiu ; T. Zhang ; G. Feng ; H. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2315 –2330
- DOI: 10.1049/iet-cta.2009.0235
- Type: Article
- + Show details - Hide details
-
p.
2315
–2330
(16)
This study develops two efficient static output feedback (SOF) control approaches for a class of constrained non-linear processes represented by uncertain piecewise affine models. The parameter uncertainties in the piecewise affine models are assumed to be time varying and norm bounded. With the aid of the congruence transformation, degenerate ellipsoids-based -procedure, and some bounding inequalities, the piecewise SOF controller can be easily obtained by solving a convex semi-definite programming problem subject to some linear matrix inequalities. The resulting closed-loop system stability can be guaranteed as well as the H∞ control performance, and the stabilising design is less conservative owing to the piecewise quadratic Lyapunov functions. The performance of the proposed control approaches are demonstrated by simulation results on a non-linear benchmark plant. - Author(s): A. Leva and M. Maggio
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2331 –2342
- DOI: 10.1049/iet-cta.2009.0260
- Type: Article
- + Show details - Hide details
-
p.
2331
–2342
(12)
This manuscript addresses the problem of process scheduling in a multitasking computing environment. The mainstream feedback-based approach to that problem preserves the existing scheduler, and adapts some of its parameters by means of convenient loops. On the contrary, in this research, the scheduler is entirely replaced by suitable control structures, synthesised and analysed in the discrete-time domain. The proposed approach allows for a clear interpretability of the involved parameters, whereas the complexity of the obtained scheduling solutions is comparable to the existing ones. Simulation examples support the above claims. The focus is here restricted for convenience to the preemptive single-processor case, although several generalisations are possible. - Author(s): Z. Zuo
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2343 –2355
- DOI: 10.1049/iet-cta.2009.0336
- Type: Article
- + Show details - Hide details
-
p.
2343
–2355
(13)
The design of a flight control system capable of not only stabilising attitude but also tracking a trajectory accurately for an under-actuated quadrotor aircraft is quite challenging. This study constructs the relationship between the attitude and linear acceleration of a small quadrotor unmanned aircraft and proposes a trajectory tracking control design algorithm, based on the relationship, using a new command-filtered backstepping technique to stabilise the attitude and a linear tracking differentiator to eliminate the classical inner/outer-loop structure. Finally, the validity and the effectiveness of this algorithm are demonstrated by various numerical simulations under different conditions. - Author(s): Z. Li ; J. Zhang ; Y. Yang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2356 –2368
- DOI: 10.1049/iet-cta.2009.0200
- Type: Article
- + Show details - Hide details
-
p.
2356
–2368
(13)
In this study, the authors propose implicit control using least square support vector machines (LS-SVMs) approximation for the motion control of wheeled under-actuated manipulators. For approximating the multi-input and multi-output non-linear system, an LS-SVM matrix operator is proposed. Further, by using implicit function with SVMs, a control is constructed to obtain motion tracking of wheeled under-actuated manipulators. The relative degree of the regulated output is assumed to be known enabling the system feedback linearisable. It is shown that the tracking error can be controlled in a small neighbourhood of zero through Lyapunov's direct method. The methodology is applicable to minimum phase observable and stabilisable systems of unknown but finite dimension, as long as the relative degree is known. The effectiveness of the proposed control method is substantiated by the simulation results. - Author(s): F.Y. Bi ; Y.J. Wei ; J.Z. Zhang ; W. Cao
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2369 –2380
- DOI: 10.1049/iet-cta.2009.0265
- Type: Article
- + Show details - Hide details
-
p.
2369
–2380
(12)
This study addresses the problem of position-tracking control of underactuated autonomous underwater vehicles (AUVs) in the presence of unknown ocean currents in a horizontal plane. A position-tracking controller and a current observer are presented based on the Lyapunov stability theory by using the backstepping technique, respectively. The final controlled system, which arises from putting together the position-tracking controller and the observer, is proved to be globally K-exponentially stable by stability criteria for cascade system. The trajectories used for the illustration of the proposed control schemes are a circle with constant velocity and a sinusoidal curve that requires time-varying velocity. In order to demonstrate the practicability of the proposed controller, the surge force is assumed to be non-negative, and control input saturations are considered. Simulation results are presented to demonstrate the effectiveness of the proposed control schemes. - Author(s): M. Deng and N. Bu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2381 –2390
- DOI: 10.1049/iet-cta.2009.0297
- Type: Article
- + Show details - Hide details
-
p.
2381
–2390
(10)
This study is concerned with the robust right coprime factorisation of non-linear plants based on the isomorphism approach. First, the factorisation of the non-linear plant is realised by using the isomorphism approach where the Bezout identity is simply satisfied with the obtained factors. Moreover, the stability of the non-linear feedback system and the output tracking to the reference input are studied. The effectiveness of the proposed method is demonstrated by the simulations. - Author(s): J. Na ; R. Griñó ; R. Costa-Castelló ; X. Ren ; Q. Chen
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2391 –2404
- DOI: 10.1049/iet-cta.2009.0411
- Type: Article
- + Show details - Hide details
-
p.
2391
–2404
(14)
A novel continuous time repetitive control design is presented for time-delay systems with periodic references and disturbances. Taking profit of the system model and an appropriate time-delay, an inner positive feedback loop is constructed to establish an internal model for periodic signals, and a simple proportional control is utilised in the outer feedback loop to stabilise the closed-loop system. Thus, the tracking capability can be guaranteed according to internal model principle. In addition, to compensate for the effect of external periodic disturbances, a disturbance observer using the system model and a model-based compensator is introduced inside the proposed internal model such that the tracking and disturbance rejection can be achieved simultaneously. Sufficient stability conditions and the robustness analysis under modelling uncertainties are all studied. Only two parameters are needed to be chosen by the designer. Numerical examples and practical experiments on a motor control system are included to illustrate the feasibility and simplicity of the proposed methods. - Author(s): M.S. Mahmoud ; S.Z. Selim ; P. Shi
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2405 –2415
- DOI: 10.1049/iet-cta.2009.0007
- Type: Article
- + Show details - Hide details
-
p.
2405
–2415
(11)
The problem of global exponential stability analysis for a class of neural networks (NNs) with probabilistic delays is discussed in this paper. The delay is assumed to follow a given probability density function. This function is discretised into arbitrary number of intervals. In this way, the NN with random time delays is transformed into one with deterministic delays and random parameters. New conditions for the exponential stability of such NNs are obtained by employing new Lyapunov–Krasovskii functionals and novel techniques for achieving delay dependence. It is established that these conditions reduce the conservatism by considering not only the range of the time delays, but also the probability distribution of their variation. Numerical examples are provided to show the advantages of the proposed techniques. - Author(s): A.K. Das ; Y. Hatano ; M. Mesbahi
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2416 –2426
- DOI: 10.1049/iet-cta.2009.0394
- Type: Article
- + Show details - Hide details
-
p.
2416
–2426
(11)
The authors consider the agreement problem over noisy communication networks. This problem is analysed via a blend of ideas from stochastic stability (supermartingales) and algebraic graph theory (spectra of graph Laplacians). In this venue, the authors show that the noisy agreement protocol has a guaranteed probabilistic convergence, provided that an embedded step size meets a graph theoretic constraint. The authors then proceed to define a pertinent graph parameter and point out the ramifications of having noisy information exchange links in networks that can be modelled as random and random geometric graphs. - Author(s): X.H. Li ; H.B. Yu ; M.Z. Yuan ; J. Wang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2427 –2440
- DOI: 10.1049/iet-cta.2009.0424
- Type: Article
- + Show details - Hide details
-
p.
2427
–2440
(14)
Based on the new interval polynomial stability criterion and Lyapunov theorem, a robust optimal proportional–integral–derivative (PID) controller is proposed here to design for different plants that contain the perturbations of multiple parameters. A new stability criterion of the interval polynomial is presented to determine whether the interval polynomial belongs to Hurwitz polynomial. The robust optimal PID controller is acquired through minimising an augmented integral squared error (AISE) performance index. The robust optimal control problem is transformed into a non-linear constraint optimisation (NLCO) problem by applying new polynomial stability criterion and Lyapunov approach. The robust optimal PID parameters are obtained from solving the NLCO problem. The robustness and performances of the proposed method and other different tuning methods are compared. The ability of the proposed PID tuning method and other tuning methods to reject disturbances is discussed as well. The simulation results are presented to demonstrate the effectiveness of the proposed method and show better robustness of the robust optimal PID controller. - Author(s): W. Li ; Y. Jing ; S. Zhang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2441 –2453
- DOI: 10.1049/iet-cta.2009.0322
- Type: Article
- + Show details - Hide details
-
p.
2441
–2453
(13)
For a class of large-scale high-order stochastic non-linear systems which are neither necessarily feedback linearisable nor affine in the control input, this study investigates the decentralised stabilisation for the first time. Under some moderate assumptions, smooth decentralised state-feedback controllers are designed, which ensure that the closed-loop system has an almost surely unique solution on [0, ∞), the equilibrium at the origin of the closed-loop system is globally asymptotically stable (GAS) in probability, the states can be regulated to the origin almost surely, and the problem of inverse optimal stabilisation (IOS) in probability is solved. The efficiency of the control scheme is demonstrated by a simulation example. - Author(s): J.-M. Yang and S.W. Kwak
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2454 –2462
- DOI: 10.1049/iet-cta.2009.0397
- Type: Article
- + Show details - Hide details
-
p.
2454
–2462
(9)
Corrective control of asynchronous sequential machines is to design a feedback controller so that the behaviour of the closed-loop asynchronous machine matches that of a prescribed model. This study proposes a control scheme for asynchronous machines with uncontrollable external inputs, over which the controlling agent has no influence. The existence condition for an appropriate controller and its design procedure are analytically presented. It is shown that an asynchronous machine must have additional reachability to achieve control objectives against transitions caused by uncontrollable inputs. In particular, the authors apply the proposed control scheme to implementing single-event-upset error counters used by error detection and correction circuits. The authors' result demonstrates that corrective control can be employed in real digital systems. - Author(s): P. Lu and Y. Yang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2463 –2470
- DOI: 10.1049/iet-cta.2009.0416
- Type: Article
- + Show details - Hide details
-
p.
2463
–2470
(8)
This study deals with the problem of the decentralised static output feedback for a class of dynamic networks with each node being a general Lur'e system. On the basis of the Kalman–Yakubovich–Popov (KYP) lemma, linear matrix inequality (LMI) conditions guaranteeing the stability of such dynamic networks are established. In addition, the following interesting result is derived: the stability problem for the whole Nn-dimensional dynamic networks can be converted into the simple n-dimensional space in terms of only two LMIs. Finally, a concrete application to mutually coupled phase-locked loop networks shows the validity of the proposed approaches. - Author(s): L. Ding ; H.-N. Wang ; Z.-H. Guan ; J. Chen
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2471 –2478
- DOI: 10.1049/iet-cta.2009.0449
- Type: Article
- + Show details - Hide details
-
p.
2471
–2478
(8)
This study investigates the tracking performance of continuous-time, multi-input multi-output, linear time-invariant systems in which the output feedback is subject to an additive white Gaussian noise corruption. The problem under consideration amounts to determining the minimal error in tracking a Brownian motion random process, which emulates a step reference signal in the deterministic setting. The authors consider both the unity feedback and two-parameter control structure. In the former case, they derive an explicit bound, and in the latter an exact expression of the minimal tracking error attainable under the noise effect. Both results demonstrate how the additive white Gaussian noise may degenerate the tracking performance, and how the noise effect may intertwine with unstable poles and non-minimum phase zeros which are intrinsic characteristics of the plant. - Author(s): F. Valenciaga and C.A. Evangelista
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2479 –2490
- DOI: 10.1049/iet-cta.2009.0437
- Type: Article
- + Show details - Hide details
-
p.
2479
–2490
(12)
This study presents the control of a variable-speed wind energy conversion system based on a brushless doubly fed reluctance machine. The control objectives are the tracking of the maximum power conversion point and the regulation of the reactive power injected by the generation system into the grid. The control design is approached using multi-input second-order sliding techniques which are specially appropriate to deal with non-linear system models in the presence of disturbances and model inaccuracies. The controller synthesised through this theoretical framework presents very good robustness features, a finite reaching time and a chattering-free behaviour. The performance of the closed-loop system is assessed through representative computer simulations. - Author(s): J.C. Basilio ; J.A. Silva ; L.G.B. Rolim ; M.V. Moreira
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2491 –2505
- DOI: 10.1049/iet-cta.2009.0377
- Type: Article
- + Show details - Hide details
-
p.
2491
–2505
(15)
This study deals with the design of H∞ controllers for speed control of rotor flux-oriented current-controlled induction motors. The mixed sensitivity problem (robust stability and performance) is initially revisited, and is shown, based on practical experiments, that when the rotor time constant is the uncertain parameter, it is necessary to deploy conflicting weighting functions, therefore invaliding its application in the design of current-fed induction motors. Two other H∞ problems are addressed: (i) a one-block problem for speed control with tracking and transient performance objectives; and (ii) a two-block problem for speed control with tracking/transient performance and noise attenuation objectives. An important part of H∞ design is the model of the system to be controlled. In this study, the system composed of the inverter, estimator and induction motor will be modelled as a first-order system, and experiments for the identification of the gain and the time constant are proposed. It is also suggested how to properly correct an initial estimation of the rotor time constant in order to make the actual plant (inverter-induction motor) behave as a first-order linear system. The model accuracy and the efficiency of the H∞ controllers are validated by experiments carried out in a real system. - Author(s): P. Patel and M. Moallem
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2506 –2515
- DOI: 10.1049/iet-cta.2009.0471
- Type: Article
- + Show details - Hide details
-
p.
2506
–2515
(10)
This paper discusses the development of embedded controllers on a reconfigurable multiprocessor system using field programmable gate array (FPGA) technology. The system is reconfigurable in hardware and software in the sense that certain components may be reused in different applications, hence allowing rapid development of embedded control systems. Concurrent real-time operation can be achieved by utilising hardware and software modules consisting of dedicated hardware cores and real-time operating systems. For demonstration purposes, we discuss the development of a system consisting of a network-enabled master processor that handles two slave processors each controlling a mechatronic system. The user interface is implemented using an internet browser through the master processor which allows monitoring and supervisory control of the individual systems. A multi-threaded real-time operating system runs on each of the softcore processors which allows flexibility and modularity in software design whereas pre-designed hardware modules on the FPGA chip can be utilised for building comuting hardware for control applications. Experimental results are presented for illustrating how control applications can be developed and deployed using modular components and the hardware/software environment. - Author(s): H.-Y. Chen and J.-W. Liang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2516 –2526
- DOI: 10.1049/iet-cta.2009.0223
- Type: Article
- + Show details - Hide details
-
p.
2516
–2526
(11)
The piezoelectrically actuated system has non-linear and time-varying behaviour, hence it is difficult to establish an accurate dynamic model for a model-based sliding-mode control design. In this study, a model-free adaptive sliding controller is proposed to control the piezoelectrically actuated system. This control strategy uses the functional approximation (FA) technique to establish the unknown function for releasing the model-based requirement of the sliding-mode control. In addition, a fuzzy scheme with online learning ability is introduced to compensate the FA error for improving the control performance and reducing the implementation difficulty. The important advantages of this approach are to achieve the sliding-mode controller design without the system dynamic model requirement and release the trial-and-error work of selecting approximation function. The update laws for the coefficients of the Fourier series functions and the fuzzy tuning parameters are derived from a Lyapunov function to guarantee the control system stability. This proposed controller is implemented on a piezoelectrically actuated X–Y table. To verify the dynamic performance improvement of inducing a fuzzy compensation in this model-free controller, the dynamic responses of the proposed controller are compared with those of the adaptive sliding controller without fuzzy compensation. - Author(s): P.C. Deng ; W.H. Gui ; Y.F. Xie
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2527 –2538
- DOI: 10.1049/iet-cta.2008.0546
- Type: Article
- + Show details - Hide details
-
p.
2527
–2538
(12)
Principal component analysis (PCA) has been effectively applied in fault detection and in diagnosis of industrial processes to deal with a large number of variables with high correlations. However, normal changes often occur in real process, which always result in false alarms for a fixed-model approach. The authors' research is focused on the traits of normal process changes, which are classified into three scenarios, including process drifting, enlarging and bias, and then three latent space transformation-based PCA algorithms are proposed to obtain an adaptive model described by a new set of coordinates for adaptive fault detection. Finally, the proposed algorithms are applied to imperial smelting furnace. - Author(s): Y.K. Li ; Z.L. Jing ; S.Q. Hu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2539 –2553
- DOI: 10.1049/iet-cta.2009.0319
- Type: Article
- + Show details - Hide details
-
p.
2539
–2553
(15)
An approach to active target satellite tracking is presented. The kinematic models based on differential orbital elements and unbiased converted measurements are adopted to approximate the dynamic orbital relative tracking system, and then followed by the proposed redundant adaptive robust extended Kalman filter (RAREKF). The analysis of working status of robust filters shows that the innovation controlled switching scheme in AREKF fails under the unmodelled non-linear errors that exist all the time in orbital motions, and the loss of filtering optimality will be caused. So, a tunable redundancy factor and a novel compensation function are introduced into the RAREKF by extending the sufficient conditions of stable filtering. To evaluate the result of this tracking method, a meaningful error index is provided by consideration of the errors from both the model and the filter. The simulation shows the superiority of the RAREKF over the AREKF, uncoupled extended Kalman filter (EKF) and the usual EKF. By using the provided index, it also illustrates the lowest error level and best performance of the proposed tracking method in all the compared ones with different models and filters. - Author(s): Y. Gao ; G. Lu ; Z. Wang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2554 –2564
- DOI: 10.1049/iet-cta.2009.0048
- Type: Article
- + Show details - Hide details
-
p.
2554
–2564
(11)
This study addresses the passivity analysis and passivity-based control for continuous singular systems with non-linear perturbations. The perturbations are the function of time and system state and satisfy the Lipschitz constraints. The passivity condition, which includes a sufficient condition for the existence-uniqueness of solution to the singular system and exponential stability, is expressed in terms of linear matrix inequalities (LMIs). The state feedback controller based on passivity is designed and the numerical example is presented to demonstrate the effectiveness of the proposed method. - Author(s): H.B. Duan and S.Q. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2565 –2578
- DOI: 10.1049/iet-cta.2009.0256
- Type: Article
- + Show details - Hide details
-
p.
2565
–2578
(14)
This study presents a non-linear dual-mode receding horizon control (RHC) approach to investigate the formation flight problem for multiple unmanned air vehicles (UAVs) under complicated environments. A chaotic particle swarm optimisation (PSO)-based non-linear dual-mode RHC method is proposed for solving the constrained non-linear systems. The presented chaotic PSO derives both formation model and its parameter values, and the control sequence is predicted in this way, which can also guarantee the global convergence speed. A dual-model control strategy is used to improve the stability and feasibility for multiple UAVs formation flight controller, and the state-feedback control is also adopted, where the model is based on the invariant set theory. Series experimental results show the feasibility and validity of the proposed control algorithm over other algorithms. The proposed approach is also a promising control strategy in solving other complicated real-world problems. - Author(s): Y. Cao ; D. Stuart ; W. Ren
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2579 –2591
- DOI: 10.1049/iet-cta.2009.0338
- Type: Article
- + Show details - Hide details
-
p.
2579
–2591
(13)
In this study, the authors co-ordinated collective motion patterns for a group of autonomous vehicles with Cartesian co-ordinate coupling in a discrete-time setting and present experimental results to validate the theoretical results. The collective motion patterns include rendezvous, circular patterns and logarithmic spiral patterns. The authors first study the collective motion patterns for a group of autonomous vehicles with single-integrator kinematics in a discrete-time setting when there exists time delay. The conditions on the network topology, the sampling period, the time delay and the Euler angle are presented such that different collective motion patterns can be achieved. The collective motion patterns for a group of autonomous vehicles with double-integrator dynamics in a discrete-time setting in the presence of relative damping are studied. The conditions on the network topology, the sampling period, the damping factor and the Euler angle are presented such that different collective patterns can be achieved. Finally, the theoretical results are experimentally validated on a multi-robot platform. - Author(s): X. Cai ; J. Huang ; L. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2592 –2602
- DOI: 10.1049/iet-cta.2009.0208
- Type: Article
- + Show details - Hide details
-
p.
2592
–2602
(11)
Stability analysis of linear differential inclusion systems with time-delay and input saturation is devoted in this study. The convex hull Lyapunov function is used to construct Lyapunov–Krasovskii functionals. A continuous state feedback law is designed. By the state feedbacks, sufficient conditions for saturated stabilisation are acquired and the domain of attraction is estimated. Furthermore, disturbance rejection with minimal reachable set is studied under two types of disturbances. Moreover, least L2 gain is obtained under the unit energy disturbances. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design technique.
Improved sliding mode control for discrete-time systems via reaching law
Quantised robust ℋ∞ output feedback control of discrete-time systems with random communication delays
Using a Kalman filter and a Padé approximation to estimate random time delays in a networked feedback control system
New approach to H∞ control for Markovian jump singular systems
Chaotic synchronisation using output/full state-feedback polynomial controller
Studies on linear matrix inequality relaxations for fuzzy control systems via homogeneous polynomials
H∞ fault detection for linear discrete time-varying systems with delayed state
Piecewise affine model-based H∞ static output feedback control of constrained non-linear processes
Feedback process scheduling with simple discrete-time control structures
Trajectory tracking control design with command-filtered compensation for a quadrotor
Motion control of mobile under-actuated manipulators by implicit function using support vector machines
Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents
Isomorphism-based robust right coprime factorisation of non-linear unstable plants with perturbations
Repetitive controller for time-delay systems based on disturbance observer
Global exponential stability criteria for neural networks with probabilistic delays
Agreement over noisy networks
Design of robust optimal proportional–integral–derivative controller based on new interval polynomial stability criterion and Lyapunov theorem in the multiple parameters' perturbations circumstance
Decentralised stabilisation of a class of large-scale high-order stochastic non-linear systems
Corrective control of asynchronous machines with uncontrollable inputs: application to single-event-upset error counters
Global asymptotic stability of a class of complex networks via decentralised static output feedback control
Tracking under additive white Gaussian noise effect
2-Sliding active and reactive power control of a wind energy conversion system
H∞ design of rotor flux-oriented current-controlled induction motor drives: speed control, noise attenuation and stability robustness
Reconfigurable system for real-time embedded control applications
Adaptive sliding control with self-tuning fuzzy compensation for a piezoelectrically actuated X–Y table
Latent space transformation based on principal component analysis for adaptive fault detection
Redundant adaptive robust tracking of active satellite and error evaluation
Passive control for continuous singular systems with non-linear perturbations
Non-linear dual-mode receding horizon control for multiple unmanned air vehicles formation flight based on chaotic particle swarm optimisation
Co-ordinated collective motion patterns in a discrete-time setting with experiments
Stability analysis of linear time-delay differential inclusion systems subject to input saturation
-
- Author(s): Z. Wang ; G. Wang ; W. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2603 –2612
- DOI: 10.1049/iet-cta.2009.0173
- Type: Article
- + Show details - Hide details
-
p.
2603
–2612
(10)
This study investigates a stabilisation problem of two-time scale systems with a finite feedback data rate. The uniform estimate of the state growth rate over each sampling interval is first provided, which is shown to be independent of the small parameter. Then, based on the given uniform estimate and the decoupled form of the two-time scale systems, the requirement, which is independent of the small parameter, on the necessary data rate for the channel is derived through the design of a quantiser. Based on this requirement, the authors obtain the detecting systems, which are two-time scale hybrid systems with impulsive. Then, under the assumption of strong controllability of the original two-time scale systems, it is shown that there exists a bound of the small parameter such that the original two-time scale systems are stabilised by a quantised state via a finite feedback data rate channel for a small parameter within the bound. Finally, a simulation example illustrates the result. - Author(s): S. Zhu ; Z. Li ; C. Zhang
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2613 –2620
- DOI: 10.1049/iet-cta.2009.0426
- Type: Article
- + Show details - Hide details
-
p.
2613
–2620
(8)
This study deals with the problem of delay-dependent stability analysis for singular time-delay systems. By employing the delay decomposition approach, an improved delay-dependent stability criterion is established in terms of linear matrix inequalities (LMIs), which ensures that the singular time-delay system is regular, impulse free and asymptotically stable. This stability criterion, which is obtained without using model transformation and bounding technique for cross-product terms, is much less conservative and includes some existing results as its special cases. Numerical examples are given to illustrate the effectiveness of the proposed method. - Author(s): W. Li and Y. Jia
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2621 –2630
- DOI: 10.1049/iet-cta.2009.0399
- Type: Article
- + Show details - Hide details
-
p.
2621
–2630
(10)
This study is concerned with risk-sensitive filtering and smoothing for a class of discrete-time jump Markov non-linear systems. Using the so-called reference probability method, the authors present a general theoretical framework to yield recursions for deriving filtered and smoothed estimates through identifying the approximations made by the interacting multiple model (IMM) estimation approach. A suboptimal risk-sensitive filtering algorithm is developed by applying the unscented transform (UT) technique and the one-step fixed-lag smoothing result is also presented for such systems. The effectiveness of the proposed algorithms is demonstrated via a manoeuvering target tracking simulation study. - Author(s): S. Engelken ; S. Patra ; A. Lanzon ; I.R. Petersen
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2631 –2638
- DOI: 10.1049/iet-cta.2009.0429
- Type: Article
- + Show details - Hide details
-
p.
2631
–2638
(8)
Real parametric uncertainty is common in many applications. In this study, the authors analyse the robust stability of feedback loops of single-input single-output systems with negative imaginary frequency response subject to real parametric uncertainty. A recent result on the stability of such feedback loops is specialised to this case, resulting in a very simple stability condition dependent only on the steady-state parameters of the systems. The structured singular value for this system type is also obtained, and it is shown that it yields related but more constrained, easily computable stability guarantees. In a numerical example, the robust stability of a control loop for a DC machine subject to real parametric uncertainty is analysed. - Author(s): S.J. Yoo
- Source: IET Control Theory & Applications, Volume 4, Issue 11, p. 2639 –2650
- DOI: 10.1049/iet-cta.2009.0391
- Type: Article
- + Show details - Hide details
-
p.
2639
–2650
(12)
This study presents a decentralised adaptive tracking control approach for uncertain large-scale non-linear systems with time-delayed interconnections and unknown non-symmetric dead-zone inputs. The interaction terms with unknown time-varying delays unmatched in control inputs are related to all state variables and are compensated by choosing the appropriate Lyapunov–Krasovskii functionals and using the adaptive technique. The local memoryless controller for each subsystem is simply designed using the dynamic surface design technique, without constructing the dead-zone inverse and requiring the information of all dead-zone parameters and bounds of unknown time delays. It is shown that all signals of the controlled closed-loop systems are semi-globally uniformly bounded and each tracking error converges to an adjustable neighbourhood of the origin.
Stabilisation of two-time scale systems with a finite feedback data rate
Delay decomposition approach to delay-dependent stability for singular time-delay systems
Risk-sensitive filtering and smoothing for jump Markov non-linear systems based on unscented transform
Stability analysis of negative imaginary systems with real parametric uncertainty – the single-input single-output case
Decentralised adaptive control of a class of interconnected non-linear systems with unknown time delays and dead-zone inputs
Most viewed content for this Journal
Article
content/journals/iet-cta
Journal
5
Most cited content for this Journal
-
Finite-time stability of interconnected impulsive switched systems
- Author(s): Guangdeng Zong ; Hangli Ren ; Linlin Hou
- Type: Article
-
Event-based security control for discrete-time stochastic systems
- Author(s): Derui Ding ; Zidong Wang ; Guoliang Wei ; Fuad E. Alsaadi
- Type: Article
-
Survey on semi-tensor product method with its applications in logical networks and other finite-valued systems
- Author(s): Jianquan Lu ; Haitao Li ; Yang Liu ; Fangfei Li
- Type: Article
-
Optimal control for networked control systems with disturbances: a delta operator approach
- Author(s): Yuan Yuan ; Huanhuan Yuan ; Zidong Wang ; Lei Guo ; Hongjiu Yang
- Type: Article
-
Filtering-based iterative identification for multivariable systems
- Author(s): Yanjiao Wang and Feng Ding
- Type: Article