Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 4, Issue 12, December 2010
Volumes & issues:
Volume 4, Issue 12
December 2010
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- Author(s): D. Dong and I.R. Petersen
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2651 –2671
- DOI: 10.1049/iet-cta.2009.0508
- Type: Article
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(21)
This study presents a survey on quantum control theory and applications from a control systems perspective. Some of the basic concepts and main developments (including open-loop control and closed-loop control) in quantum control theory are reviewed. In the area of open-loop quantum control, the paper surveys the notion of controllability for quantum systems and presents several control design strategies including optimal control, Lyapunov-based methodologies, variable structure control and quantum incoherent control. In the area of closed-loop quantum control, this study reviews closed-loop learning control and several important issues related to quantum feedback control including quantum filtering, feedback stabilisation, linear-quadratic-Gaussian control and robust quantum control. - Author(s): N. Lotfi and M. Namvar
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2672 –2681
- DOI: 10.1049/iet-cta.2009.0374
- Type: Article
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This study presents a method for global estimation of joint velocities in robotic manipulators. The authors consider a non-minimal model of a robotic manipulator and design an adaptive observer capable of handling uncertainties in robot dynamics. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator's degrees of freedom. This number is less than the dimension of most existing globally convergent adaptive observers. Global asymptotic convergence of state estimates to their true values is achieved under no persistency of excitation condition. Furthermore, under noisy position and force measurements, the proposed observer guarantees ultimate boundedness of estimation errors. Simulation results illustrate low noise sensitivity of the proposed observer in comparison with non-smooth observers. - Author(s): S. Fang and S. Li
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2682 –2692
- DOI: 10.1049/iet-cta.2009.0614
- Type: Article
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When networked control systems (NCSs) are stable with any constant time delays, then they are delay-independently stable. Many works in the literature are concerned with this stability concept, giving different criterions for it. This study mainly deals with the dynamic performance of such systems and discusses the issue of ‘staircase phenomenon’. The definition of ‘staircase phenomenon’ is given at first and it is demonstrated that existence of ‘staircase phenomenon’ usually means that the system's dynamic process is slow. Then it is proven that if a NCS with traditional feedback structure is delay-independently stable, then the ‘staircase phenomenon’ in its dynamic response cannot be eliminated. This is an inner restriction of delay-independently stable NCS under traditional feedback structures, which can only be broken by changing the system's structure. It is already proven in the literature that the introduction of scattering transformation into NCS can bring profound changes to the system's structure. This study proceeds to prove that if a NCS which is delay-independently stable is introduced with scattering transformation, then its steady-state error and ‘staircase phenomenon’ in its dynamic response can be eliminated altogether by tuning the parameter of the transformation. Simulation result is provided at the end. - Author(s): C. Cantelmo and L. Piroddi
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2693 –2706
- DOI: 10.1049/iet-cta.2009.0581
- Type: Article
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Two algorithms are proposed for the adaptive model selection of polynomial non-linear autoregressive with exogenous variable (NARX) models. The recursive forward regression with pruning (RFRP) algorithm is based on a recursive orthogonal least-squares (ROLS) procedure and efficiently integrates model augmentation and pruning to reduce processing time whenever new data are available. The algorithm provides excellent model structure tracking compared to different OLS-based model selection policies. A less accurate but much faster algorithm that can be used for time-critical applications is the ROLS-LASSO. This algorithm uses a recursive version of the least absolute shrinkage and selection operator (LASSO) regularisation approach for structure selection. It features a recursive standardisation of the regressors and performs parameter estimation with ROLS. A sliding window data updating is here adopted for both algorithms, although the methods seamlessly generalise to exponential windowing with forgetting factor. Some simulation examples are provided to demonstrate the model tracking capabilities of the algorithms. - Author(s): D. Meng ; Y. Jia ; J. Du ; F. Yu
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2707 –2718
- DOI: 10.1049/iet-cta.2009.0408
- Type: Article
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This study is devoted to the problem of robust iterative learning control (ILC) for time-delay systems (TDS) when the plants are subject to random iteration-varying uncertainties. Using the frequency-domain approach, an ILC scheme is considered within the Smith predictor-based feedback configuration. It shows that if the well-known robust performance condition is satisfied, then an updating law can be obtained directly to guarantee that the ILC process converges in the sense of expectation. In particular, if the unit function is selected as the performance weight, then the expected tracking error converges monotonically to zero as a function of iteration. Two numerical examples are presented to illustrate the effectiveness of the Smith predictor-based ILC. - Author(s): H. Su and Y. Jia
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2719 –2732
- DOI: 10.1049/iet-cta.2009.0404
- Type: Article
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This study considers the model matching problem for a class of multiple-input-delay systems whose inputs involve different delays. The reference model is chosen to be a diagonal delay transfer matrix. A model matching controller, which involves multiple integrals of past inputs over different delay intervals, is designed for the nominal systems. Then an adaptive control scheme is proposed for uncertain systems with parameter variation. The resulting scheme can guarantee global stability of the closed-loop systems and the convergence of tracking errors. A simulation example is included to illustrate the proposed scheme. - Author(s): H.C. Cho ; M.S. Fadali ; K.S. Lee ; N.H. Kim
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2733 –2742
- DOI: 10.1049/iet-cta.2009.0251
- Type: Article
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The authors present a robust adaptive control approach using model reference adaptive control (MRAC) for autonomous robot systems with random friction. First, a non-linear model of the robot system is approximated by feedback linearisation to derive a nominal control law. Next, a least square observer is constructed for the online estimation of friction dynamics. The authors derive a perturbed system model governing the friction estimation error and design an MRAC control to mitigate its effect. Also, stability conditions for the perturbed system model using the Lyapunov stability theory are derived. The authors demonstrate the success of the proposed control methodology through computer simulation, including a comparison to a traditional controller based on nominal dynamics. - Author(s): Z. Lin ; Y. Lin ; W. Zhang
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2743 –2756
- DOI: 10.1049/iet-cta.2009.0393
- Type: Article
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This study deals with the H∞ filtering problem for a class of non-linear stochastic Markovian jump systems (NSMJS) as to both accessible and non-accessible jumping parameters cases. For this class of systems with measurable Markovian jumping parameters, sufficient conditions are expressed for the non-linear stochastic H∞ and mixed H2/H∞ filtering design in terms of a set of N-, 2N-coupled Hamilton–Jacobi inequalities (HJIs), respectively. On the other hand, as to the non-accessible jumping parameters case, a fault-tolerant H∞ filter is introduced for NSMJS with a jump detection and identification scheme, which is determined by a set of N×M-coupled HJIs. Finally, a numerical example is given to show the usefulness of the results derived. - Author(s): Y. Wen and X. Ren
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2757 –2769
- DOI: 10.1049/iet-cta.2009.0351
- Type: Article
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A novel fuzzy state observer-based adaptive control is proposed for a class of strict-feedback non-linear time-varying delay systems with unknown control direction. A state observer with fuzzy approximators is established to estimate the system states. Based on the Nussbaum-type function in detecting the control direction and backstepping method, adaptive output feedback controller is constructed without requiring a priori knowledge of the signs of the unknown control directions, which can achieve the output tracking. It is rigourously proven that the proposed Lyapunov–Krasovskii functionals and the adaptive backstepping method are able to guarantee semi-globally uniform ultimate boundedness of all the signals in the closed-loop systems, whereas the tracking error converges to a small neighbourhood of the origin. A main advantage of the proposed controller is that it contains only one novel adaptive parameter that needs to be updated online, which can improve the transient and steady-state performances, and the other one is that the proposed scheme can be applied to the systems that do not satisfy the matching conditions. Finally, the simulations had been provided to verify the effectiveness of the proposed scheme. - Author(s): H.K. Lam
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2770 –2780
- DOI: 10.1049/iet-cta.2009.0307
- Type: Article
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This study investigates the systems stability of fuzzy-model-based (FMB) control systems. Based on the T-S fuzzy model representing the non-linear system, a fuzzy controller using grid-point (GP) technique is proposed to close the feedback loop. A GP is defined as the sub-operating domain of the non-linear system. For each GP, a corresponding GP fuzzy controller is employed to control the system. As the non-linearity in each GP is lower compared to that of the full operating domain, it is in favour of yielding relaxed stability analysis result using the GP control technique of which the nature of the membership functions and operating domain are taken into account. Furthermore, unlike most of the fuzzy control approaches, the proposed one can be applied to FMB control systems subject to imperfect premise matching that the fuzzy model and fuzzy controller do not share the same premise membership functions. As a result, some simple membership functions can be employed for the fuzzy controllers to lower the implementation cost. Based on the Lyapunov stability theory, stability conditions in terms of linear matrix inequalities are derived to guarantee the system stability and facilitate the controller synthesis. Simulation examples are given to demonstrate the merits of the proposed FMB control scheme using the proposed GP technique. - Author(s): T.-G. Park
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2781 –2792
- DOI: 10.1049/iet-cta.2009.0447
- Type: Article
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This study presents fault estimation and diagnostics for a linear system with disturbances. Through a series of transformations on state and output equations, the given system is partitioned into three subsystems: a disturbance and fault-free subsystem, a disturbance-dependent one and an actuator fault-dependent one. The transformations enable the state vectors of the second and third subsystems to be described in terms of only output measurements, respectively. An unknown input observer is constructed for the first subsystem and is then used for actuator fault estimation. The proposed diagnostic method is verified through simulation studies performed on the control of a vertical takeoff and landing aircraft in the vertical plane. - Author(s): M. Vagia ; Y. Koveos ; G. Nikolakopoulos ; A. Tzes
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2793 –2801
- DOI: 10.1049/iet-cta.2009.0350
- Type: Article
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In this study the effects of unaccounted modal dynamics within the control scheme of an electrostatic micro-actuator (µ-A) are presented. The µ-A is composed of a µ-capacitor, whose one plate is clamped on the ground whereas its other plate is floating on the air. The dynamic model of the µ-A allows both lateral and angular movements of the upper plate. The feedback controller is designed based on the single-mode (lateral) linearised model. The reduced non-linear model (RnM) is linearised at multiple operating points, and the designed proportional–integral–derivative (PID)-controller, tuned via linear matrix inequalities (LMIs)-theory, stabilises all linear modes within the polytopic defined by the vertices of the linearised systems. The overall scheme comprises: (a) a feedforward controller that stabilises the µ-A around its nominal operating points and (b) a robust PID controller that handles deviations from the operating points. The resulting overall control scheme is applied to the non-linear (bimodal structure) of a µ-A, and the simulation results derived are used to investigate the efficacy of the suggested control architecture. - Author(s): Y. Stergiopoulos and A. Tzes
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2802 –2812
- DOI: 10.1049/iet-cta.2009.0298
- Type: Article
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This study addresses the problem of space-partitioning in heterogeneous sensor networks, where the nodes have uniform symmetric sensing patterns, although their maximum distance differs. Emphasis is given in the inappropriateness of classical spatial Voronoi tessellation for coverage purposes, compared to the proposed space-partitioning technique, which takes into account this heterogeneity. The latter's definition is reflected in a way that the assigned regions are convex sets (contrary to weighted Voronoi diagrams), their construction is computationally efficient, while special properties of Voronoi diagrams, which hold for homogeneous networks, are kept active. The proposed Voronoi definition degenerates into the classical one when the sensing radii of the nodes are equal. Examples are provided in order to emphasise in the efficacy of the proposed region-assignment scheme when dealing with heterogeneous networks, in contrast with classical Voronoi tessellation. - Author(s): L.A. Mozelli ; R.M. Palhares ; E.M.A.M. Mendes
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2813 –2822
- DOI: 10.1049/iet-cta.2009.0210
- Type: Article
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This study is divided in three parts. In the first part, the equivalence of recent strategies for stability analysis, namely the null term, the Finsler's lemma and the descriptor approach is demonstrated in the context of fuzzy Lyapunov functions (FLFs). In the sequel, this study presents new insights concerning the extension of typical right-hand side relaxations and the use of the FLF structure. Finally, an alternative less conservative non-parallel distributed compensation control design is proposed that generalises previous approaches. - Author(s): G. Rödönyi and P. Gáspár
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2823 –2836
- DOI: 10.1049/iet-cta.2009.0295
- Type: Article
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A joint uncertainty modelling and robust control design method is presented for linear time-invariant (LTI) systems. The system is given as a linear fractional transformation (LFT) with structured uncertainty blocks. The goal is to optimise the robust performance of the closed loop by simultaneously creating an optimised uncertainty model consistent with measurement data and designing a robust controller using skew μ synthesis. The proposed modelling/validation and control design algorithm is placed in the iterative identification and control (IIC) framework (design–experiments–analysis loop). In the proposed IIC approach, weighting functions of structured perturbation models are designed, which may lead to less conservative controllers compared to unstructured perturbations and disturbances. No a priori information is required on the disturbances. An advantage of the proposed method in the μ-synthesis context is that the number of fixed design parameters used in robust control (typically frequency-dependent weighting functions) is reduced to those associated with the control performance specification. The weighting functions of the uncertainty model are parameterised in the frequency domain and tuned subject to model validation constraints. It is shown that using skew μ as a robust performance criterion for both uncertainty modelling and control design, the proposed scheme simultaneously improves the robustness and performance of the control system. The efficiency of the method is illustrated on a vehicle steering problem. - Author(s): M. Chen ; S.S. Ge ; B. Ren
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2837 –2854
- DOI: 10.1049/iet-cta.2009.0478
- Type: Article
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In this study, attitude control is proposed for helicopters with actuator dynamics. For the nominal helicopter dynamics, model-based control is firstly presented to keep the desired helicopter attitude. To handle the model uncertainty and the external disturbance, radial basis function neural networks are adopted in the attitude control design. Using neural network approximation and the backstepping technique, robust attitude control is proposed with full state feedback. Considering unknown moment coefficients and the mass of helicopters, approximation-based attitude control is developed for the helicopter dynamics. In all proposed attitude control techniques, multi-input and multi-output non-linear dynamics are considered and the stability of the closed-loop system is proved via rigorous Lyapunov analysis. Extensive numerical simulation studies are given to illustrate the effectiveness of the proposed attitude control. - Author(s): J. Deutscher and C. Harkort
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2855 –2866
- DOI: 10.1049/iet-cta.2009.0286
- Type: Article
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In this study the input–output decoupling of linear distributed-parameter systems with distributed control and distributed measurement is considered. The decoupling problem is formulated as an eigenstructure assignment problem for distributed-parameter systems, which is solved using the parametric approach. The resulting static state feedback controller exponentially stabilises the closed-loop system and decouples the reference transfer behaviour with respect to the first p dominant closed-loop modal states. The residual dynamics are taken into account by compensating further dominant eigenvalues with transmission zeros, so that they do not influence the reference transfer behaviour. A heat conductor is used to demonstrate the design procedure which is also compared with an early lumping approach. - Author(s): G. Liu and Z. Li
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2867 –2878
- DOI: 10.1049/iet-cta.2009.0557
- Type: Article
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For a system of sequential systems with shared resources (S4R), a typical class of Petri net models of flexible manufacturing systems (FMS), current deadly marked siphon (DMS) detection approaches based on mixed integer programming (MIP) cannot detect siphons that cause livelocks in systems. Thus a deadlock-free system cannot be further controlled. Moreover, most of these methods cannot obtain a minimal DMS directly. This study proposes the concept of extended DMS (EDMS) on the basis of max″-controllability condition of siphons. Accordingly, a more general MIP testing approach that can detect the minimal EDMS that cause deadlocks or livelocks in S4R is presented to lay foundations for further analysis and control. The authors conclude that an S4R is live if there is no feasible solution to this new MIP test. Compared with the existing methods, the proposed one is more general and powerful. Experimental studies are used to illustrate it. - Author(s): N. Meskin ; K. Khorasani ; C.A. Rabbath
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2879 –2895
- DOI: 10.1049/iet-cta.2009.0294
- Type: Article
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The problem of designing and developing a hybrid fault detection and isolation (FDI) scheme for a non-linear system that is subject to large environmental disturbances is investigated. In the proposed FDI scheme, a hybrid architecture is introduced, which is composed of a bank of residual generators and a discrete-event system (DES) fault diagnoser. A novel set of residuals is generated so that a DES fault diagnoser will robustly detect and isolate actuator faults in the system by incorporating an appropriate combination of residuals and their sequential features. Necessary and sufficient conditions for the existence of a set of residuals that are used by the DES fault diagnoser are derived based on the non-linear geometric FDI approach. The proposed hybrid FDI scheme is then applied to actuator fault detection and isolation of an almost-lighter-than-air-vehicle. Simulation results presented demonstrate and validate the performance capabilities of the proposed hybrid FDI scheme. - Author(s): B. Xue ; N. Li ; S. Li ; Q. Zhu
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2896 –2906
- DOI: 10.1049/iet-cta.2009.0496
- Type: Article
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This study presents a new method for analysis and synthesis of discrete-time linear systems with control input quantisation (a class of logarithmic quantisers is referred as the basis of the study) over a digital network. Looking at the relevant problems from different facet, referring to the sector bound approach and converting quantised control into robust control with sector bounds uncertainties, the study establishes a robust model predictive control strategy to provide a novel and efficient solution to the quantised control issues. Analytically, the study derives the coarsest quantisation density under a certain control performance and the stabilisation conditions for the discrete-time linear systems. Initially as bench tests, two illustrative examples are provided to demonstrate the effectiveness of the proposed procedure and the guideline for potential users. - Author(s): M. Canale ; L. Fagiano ; M. Milanese ; C. Novara
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2907 –2920
- DOI: 10.1049/iet-cta.2009.0604
- Type: Article
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This study proposes two new techniques, in the framework of set membership (SM) theory, to derive off-line an approximation of a given non-linear model predictive control (NMPC) law. The obtained approximated control laws satisfy input constraints and guarantee a bounded worst-case approximation error. Such a bound can be tuned to obtain a tradeoff between closed-loop performance, on-line evaluation complexity, off-line computational burden and memory usage. The presented techniques are suboptimal, since their worst-case approximation error is not minimal; however, they are able to obtain good accuracy with efficient on-line computation. Both approaches are based on the prior information given by a finite number ν of nominal control moves, computed off-line and stored. The first technique relies on the piecewise linear interpolation of the off-line computed data, while the second approach is based on the computation of the (suboptimal) upper and lower bounds of the nominal NMPC law, on the basis of the partial information given by a subset of the whole off-line computed data. A numerical example and an automotive case study are presented in order to show the effectiveness of the proposed approaches and to compare their performance. - Author(s): H. Zhang ; Y. Shi ; A. Saadat Mehr
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2921 –2936
- DOI: 10.1049/iet-cta.2009.0243
- Type: Article
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This study is concerned with the robust energy-to-peak (l2–l∞) filtering problem for a class of uncertain linear discrete-time networked control systems with time-varying delays and randomly missing data. The system matrices are assumed to reside in a convex polytope, and the time-varying delays appearing in system states are assumed to lie in a given interval. Moreover, the random data missing is supposed to satisfy the Bernoulli random binary distribution. The authors' goal is to design a full-order filter such that the filtering error dynamic system is exponentially mean-square stable for all admissible time delays and randomly missing data while a prescribed l2–l∞ performance is achieved. Sufficient delay- and parameter-dependent conditions for the existence of the filter and for the solvability of the addressed problem are given in terms of a set of linear matrix inequalities. Finally, simulation examples and comparison studies are provided to demonstrate the effectiveness of the proposed approach. - Author(s): M.S. Mahmoud and Y. Xia
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2937 –2946
- DOI: 10.1049/iet-cta.2009.0475
- Type: Article
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New ℋ∞ controller design schemes are provided for a class of discrete-time systems with uncertain non-linear perturbations. The class includes both systems with time-varying delays and systems without delay. One design scheme is generated by state-feedback and the other scheme is based on proportional–summation–difference (PSD) feedback. An appropriate Lyapunov–Krasovskii functional (LKF) is constructed and a new parametrised characterisation is established in terms of feasibility-testing of linear matrix inequalities (LMIs). Numerical examples are given to illustrate the theoretical developments. - Author(s): K. Wang ; H. Xin ; D. Gan ; Y. Ni
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2947 –2957
- DOI: 10.1049/iet-cta.2009.0534
- Type: Article
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This study provides a new method for non-linear robust adaptive excitation controller design for power systems. This method can be developed by using the back-stepping technique, but needs fewer conditions than the conventional methods, which is more desirable in power systems. This method is guaranteed to be robust in the presence of model errors and disturbances, and will adapt to uncertain parameters. Meanwhile, the over-parameterisation problem that usually appears in some adaptive methods is avoided. Simulations on a 4-machine-2-area power system and the East China power system demonstrate the effectiveness of the suggested method. - Author(s): W. Wang ; P.P. Menon ; D.G. Bates ; S. Bennani
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2958 –2970
- DOI: 10.1049/iet-cta.2009.0531
- Type: Article
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In this study, an optimisation-based approach is proposed for the robustness analysis of an attitude and orbit control system (AOCS) for flexible satellites. Several optimisation methods, including local gradient-based algorithms, global evolutionary algorithms and hybrid local/global algorithms are applied to the problem of analysing the robustness of a full-authority multivariable controller with respect to several frequency and time domain performance criteria, for a 6 degree of freedom simulation model of a satellite with large sun shields. The results of our study reveal the advantages of optimisation-based worst-case analysis over traditional Monte Carlo simulations for systems with flexible dynamics. In particular, it is shown that frequency domain analysis can provide useful guidance for the formulation of subsequent time domain tests, and that hybrid local/global optimisation algorithms can produce more reliable estimates of worst-case performance, while also reducing the associated computational overheads. The proposed approach appears to have significant potential for improving the industrial flight clearance process for next-generation high-performance satellite control systems. - Author(s): J.-W. Jung ; T.H. Kim ; H.H. Choi
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2971 –2981
- DOI: 10.1049/iet-cta.2009.0469
- Type: Article
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The authors consider the speed controller design problem for a permanent magnet synchronous motor (PMSM). Based on the Takagi–Sugeno fuzzy approach the authors design a fuzzy speed controller as well as a fuzzy load torque observer. The authors derive sufficient conditions for the existence of the controller and the observer in terms of linear matrix inequalities (LMIs). The authors give LMI parameterisations of the gain matrices. The authors also derive LMI conditions for the existence of the fuzzy speed controller and the fuzzy load torque observer guaranteeing α-stability, quadratic performance and H2/H∞ performance. The authors implement the proposed load torque observer-based fuzzy speed control system by using a TMS320F28335 floating point DSP, and give simulation and experimental results to show the effectiveness of the proposed method.
Quantum control theory and applications: a survey
Global adaptive estimation of joint velocities in robotic manipulators
‘Staircase phenomenon’ in delay-independently stable networked control system's dynamic response
Adaptive model selection for polynomial NARX models
Learning control for time-delay systems with iteration-varying uncertainty: a Smith predictor-based approach
Model matching control of multiple-input-delay systems
Adaptive position and trajectory control of autonomous mobile robot systems with random friction
H∞ filtering for non-linear stochastic Markovian jump systems
Observer-based fuzzy adaptive control for non-linear time-varying delay systems with unknown control direction
Design of stable fuzzy controller for non-linear systems subject to imperfect premise matching based on grid-point approach
Estimation strategies for fault isolation of linear systems with disturbances
Robust proportional–integral–derivative controller design for an electrostatic micro-actuator with measurement uncertainties
Convex Voronoi-inspired space partitioning for heterogeneous networks: a coverage-oriented approach
Equivalent techniques, extra comparisons and less conservative control design for Takagi–Sugeno (TS) fuzzy systems
Iterative design of structured uncertainty models and robust controllers based on closed-loop data
Robust attitude control of helicopters with actuator dynamics using neural networks
Parametric approach to the decoupling of linear distributed-parameter systems
General mixed integer programming-based liveness test for system of sequential systems with shared resources nets
Hybrid fault detection and isolation strategy for non-linear systems in the presence of large environmental disturbances
Robust model predictive control for networked control systems with quantisation
Set membership approximations of predictive control laws: the tradeoff between accuracy and complexity
Robust energy-to-peak filtering for networked systems with time-varying delays and randomly missing data
New stabilisation schemes for discrete delay systems with uncertain non-linear perturbations
Non-linear robust adaptive excitation controller design in power systems based on a new back-stepping method
Robustness analysis of attitude and orbit control systems for flexible satellites
Speed control of a permanent magnet synchronous motor with a torque observer: a fuzzy approach
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- Author(s): Z. Li ; W. Wang ; Y. Jiang
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2982 –2992
- DOI: 10.1049/iet-cta.2009.0435
- Type: Article
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In control network with resources constraints, there is an unavoidable tradeoff between the quality of control (QoC) and requirement of bandwidth (RoB) in order to optimise the performance of control system. To address the impact of this contradiction, two intelligent and optimal scheduling strategies, which are respectively based on fuzzy logic control technique and neural network, are employed by a bandwidth scheduler according to corresponding dynamic resource allocation approach. In order to guarantee the system's stability, the lower and upper bounds of the assignable bandwidth are evaluated in terms of linear matrix inequalities and the resource constraints, respectively. In addition, the normalisable criterions of QoC and RoB are also defined, which can estimate the performance of the whole networked control systems. Preliminary simulations show that the proposed strategies can save significant bandwidth and simultaneously improve overall control performance in comparison with the fixed bandwidth allocation and optimal bandwidth allocation in the literatures. - Author(s): S. Zhou and L. Zhou
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 2993 –3002
- DOI: 10.1049/iet-cta.2009.0459
- Type: Article
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This study deals with the β-exponential stability and stabilisation problems for a class of T-S model-based neutral systems. To solve these problems, new Lyapunov–Krasovskii functional candidates for this class of systems can be chosen by using the delay-decomposition approach and introducing some exponential functions into corresponding integrands. β-exponential stability conditions of the T–S model-based neutral systems are established by using the Lyapunov–Krasovskii functional and a modification integral inequality. An LMI-based state feedback controller design strategy for this class of systems is proposed based on one of the β-exponential stability conditions. Two numerical examples are also provided to illustrate the effectiveness of the proposed approach. - Author(s): C. Peng ; T.C. Yang ; E.G. Tian
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 3003 –3011
- DOI: 10.1049/iet-cta.2009.0427
- Type: Article
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Fault-tolerant control of networked control systems (NCSs) with random actuator failure is studied. An innovative model is presented for this problem. It includes three sources of uncertainties, namely uncertainties in the plant model, uncertainties in networked communications and uncertainties in possible actuator failure/malfunction. Other main features are: (i) the fault statistics of each actuator is individually quantified, and (ii) a united framework is proposed to have logic zero-order-holders embedded in the NCS. The latter enables actuators – when in normal operation – to use the latest actuating signals available to them. Based on the Lyapunov–Krasovskii functional, three theorems are proved in the study for the system stability and controller design. Theorem 1 gives a matrix inequality for the system asymptotical stability in the mean-square and is the foundation of the other two theorems. Theorem 2 shows a stability condition regarding the design of a robust state-feedback control for the system under study. Finally, Theorem 3 gives a modified stability condition that can be employed for actual design. A numerical example is presented to show how such a robust controller can be designed. - Author(s): W.S. Chen ; L.C. Jiao ; Z.B. Du
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 3012 –3021
- DOI: 10.1049/iet-cta.2009.0428
- Type: Article
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For the first time, a dynamic surface control approach is proposed for a class of stochastic non-linear systems with the standard output-feedback form using neural network. The proposed approach is a stochastic vision of the existing dynamic surface control approach which can overcome the problem of ‘explosion of complexity’ in the backstepping design of stochastic systems. Moreover, all unknown system functions are lumped into a suitable unknown function which is compensated for using only a neural network. The proposed control approach is simpler than the existing backstepping control methods for stochastic systems. Two examples are given to illustrate the effectiveness of the proposed design approach. - Author(s): S. Ghosh ; S.K. Das ; G. Ray
- Source: IET Control Theory & Applications, Volume 4, Issue 12, p. 3022 –3032
- DOI: 10.1049/iet-cta.2009.0357
- Type: Article
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Stability analysis of interconnected systems with finite as well as arbitrary interconnection delays is considered in this study. For the purpose, subsystems interconnected with finite delays are grouped to form larger subsystems with intraconnection delays. However, these larger subsystems are interconnected with arbitrary delays among themselves. By considering a suitable Lyapunov–Krasovskii functional, a stability criterion is derived in the linear matrix inequality (LMI) framework to study simultaneous delay-independent (for the interconnection delays) and delay-dependent (for the intraconnection delays) stability of the reformed interconnected system. This proposed criterion is useful when one attempts to estimate the tolerable bounds of the intraconnection delays. Finally, a numerical example is considered to illustrate the effectiveness of the proposed criterion.
Intelligent scheduling and optimisation for resource-constrained networks
Improved exponential stability criteria and stabilisation of T-S model-based neutral systems
Robust fault-tolerant control of networked control systems with stochastic actuator failure
Output-feedback adaptive dynamic surface control of stochastic non-linear systems using neural network
Stability analysis of interconnected time-delay systems in a generalised framework
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