Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 4, Issue 6, June 2010
Volumes & issues:
Volume 4, Issue 6
June 2010
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- Author(s): F. Liao ; K.-Y. Lum ; J.L. Wang ; M. Benosman
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 909 –922
- DOI: 10.1049/iet-cta.2009.0101
- Type: Article
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p.
909
–922
(14)
An adaptive control allocation method is presented for a general class of non-linear systems with internal dynamics and unknown parameters. A certainty equivalence indirect adaptive approach is used to estimate the unknown parameters. Based on the estimated parameters, model reference control and control allocation techniques are used to control the non-linear system subject to control constraints and internal dynamics stabilisation. A Lyapunov design approach with the property of convergence to a positively invariant set is proposed. The derived adaptive control allocation is in the form of a dynamic update law, which, together with a stable model reference control, guarantees that the closed-loop non-linear system be input-to-state stable. - Author(s): G.-H. Yang and H. Wang
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 923 –935
- DOI: 10.1049/iet-cta.2008.0530
- Type: Article
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p.
923
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(13)
The study paper deals with sensor fault detection problem for a class of linear uncertain systems with bounded disturbances and non-zero constant reference inputs. The sensor faults are modelled as multi-mode, named as fault-free mode and faulty modes. A steady-state-based approach is proposed to detect the sensor faults. The steady-state-based approach can be used to detect lock-in-place sensor faults with arbitrary small magnitudes, which has not been well investigated in the literature. A convergent iterative algorithm based on linear matrix inequalities is given to obtain the solutions. A numerical example is given to illustrate the effectiveness of the proposed methods. - Author(s): S. Chae ; F. Rasool ; S.K. Nguang ; A. Swain
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 936 –944
- DOI: 10.1049/iet-cta.2009.0096
- Type: Article
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p.
936
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(9)
This study considers stability and robust mode delay-dependent ℋ∞ controller design for discrete-time systems with random communication delays. Communication delays between sensors and controllers are modelled by a finite state Markov process. Based on Lyapunov–Krasovskii functional, a novel methodology for designing a mode delay-dependent state feedback controller has been proposed. The authors also show that the existing delay-dependent approach is a special case of the mode delay-dependent approach proposed in this study. The mode delay-dependent controller is obtained by solving linear matrix inequality optimisation problems using the cone complementarity linearisation algorithm. The effectiveness of the proposed design methodology is verified by a numerical example. - Author(s): Y. Gao and L. Wang
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 945 –956
- DOI: 10.1049/iet-cta.2008.0565
- Type: Article
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p.
945
–956
(12)
The authors are concerned with consensus problems in undirected networks of multiple agents with second-order dynamics, where each agent can only obtain the measurements of its positions relative to its neighbours at sampling instants. A new protocol based on sampled-data control is proposed so that all agents can reach consensus on their positions and velocities, respectively. Both fixed and switching topology cases are considered. For the fixed topology case, a sufficient and necessary condition for consensus is derived in the case without time delays, and an allowable upper bound of time delays is obtained in the case with time delays. For the switching topology case, sufficient conditions are established for consensus under arbitrary switching signals and under a class of switching signals, respectively. Simulations are provided to illustrate the effectiveness of the theoretical results. - Author(s): B. Zhu ; X. Wang ; K.-Y. Cai
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 957 –969
- DOI: 10.1049/iet-cta.2009.0139
- Type: Article
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p.
957
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(13)
In this study, the authors address the non-linear tracking problem of a roll-rate-sensorless vertical take-off and landing aircraft in the presence of roll-angle measurement delay. By using the first-order Padé approximation signal of the delayed roll angle, the authors develop an extended attitude observer and a tracking controller based on the observer, two global coordinate transformations and an extension of backstepping technique. Moreover, a finite-time-convergent differentiator is introduced to simplify the computation of one of the control signals. The resulting approximate tracking controller is practicable for actual implementation. Numerical simulations are performed to show the effectiveness of the approximate controller. - Author(s): B. Ni and D. Xiao
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 970 –984
- DOI: 10.1049/iet-cta.2008.0570
- Type: Article
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p.
970
–984
(15)
The bizarre properties of non-uniformly sampled multirate data prevent the data from being directly adopted in conventional identification methods. Here, a novel numeric integration method is proposed, which can conveniently estimate all orders of definite integration of the non-uniformly sampled data. A continuous-time identification method based on subspace estimation is established on the integral data. Furthermore, this identification method is applied to the data compression in industrial processes, where the compressed data by conventional swinging door trending method are twice compressed by modelling through identification. The model parameters are stored instead of the identification outputs. Numeric results on the data from Monte Carlo simulation as well as a station of the long-distance gas pipeline are presented and analysed, showing the feasibility of the identification method and higher compression ratio achieved by the new data compression scheme. - Author(s): L. He and X. Sun
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 985 –992
- DOI: 10.1049/iet-cta.2009.0040
- Type: Article
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985
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(8)
The problem of estimating feasible parameter sets for linear discrete-time systems with unknown-but-bounded noise is investigated. Considering that the feasible parameter set of a linear discrete-time system with bounded noise is a convex polytope and that a convex polytope can be triangulated into a limited number of simplexes with good properties, the authors propose an exact triangulation description method for the feasible parameter set. A convex polytope triangulation algorithm is introduced and a recursive algorithm of estimating the feasible parameter set in correspondence with the system description is developed. Simulation examples show the effectiveness of the proposed method. - Author(s): I. Vicente ; A. Endemaño ; X. Garin ; M. Brown
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 993 –1004
- DOI: 10.1049/iet-cta.2008.0506
- Type: Article
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p.
993
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(12)
The full-order Luenberger flux (FOLO) observer combined with adaptive techniques is the most widely used method for sensorless vector-controlled drives in induction machines. These methods suffer inherently from an unstable regenerating region and the unobservable zero stator frequency operating point. Stator resistance estimation is also required in the low speed region leading to a complicated multiple-input multiple-output (MIMO) system, and a novel simplification of the MIMO system into a single-input single-output (SISO) system based on the two-time-scale approach is proposed for a simple stability analysis procedure. Four different stabilisation strategies are suggested for this comparison, based on the main stabilisation methods found in the literature. The ‘augmented error signal’ and the ‘observer gains retuning’ methods, based on the Routh–Hurwitz criterion, are used for the stabilisation of the motor speed estimator. The stator resistance stabilisation has been implemented using the ‘augmented error signal’ method. This has been evaluated using two different gain tuning methods, one based on the Routh–Hurwitz criterion and the other on the averaging analysis technique. The different stabilising strategies are evaluated theoretically according to the simplified SISO system open-loop transfer function zeroes and compared by simulation and extensive experiments. The suggested observer is flexible for any vector controlled drive and results have been validated in a 7.5 kW experimental test bench for rotor flux-oriented vector control (RFOC) and indirect self-control drives. The stability and behaviour of the sensorless scheme are successfully verified for all operating conditions above 0.4 Hz stator frequency. - Author(s): B.B. Sharma and I.N. Kar
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1005 –1018
- DOI: 10.1049/iet-cta.2009.0060
- Type: Article
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p.
1005
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The study addresses stabilisation problem of a class of non-linear systems using contraction principle. For this purpose, contraction-based systematic design of control function is presented. Generally, Lyapunov stability-based backstepping technique is widely used to design controllers for strict feedback class of non-linear systems in a recursive manner. However, the present study highlights the usage of contraction-based concepts for stability analysis and presents a systematic procedure to select a single controller for stabilisation of systems having dynamics in strict feedback form. The approach establishes exponential stability of system states. The procedure helps in identifying coordinate transformation to establish contracting nature of the given system. Design of output tracking controller for single-link manipulator system with actuator dynamics is considered to highlight the procedure. The proposed methodology is extended to address synchronisation problem of non-linear systems. As a particular case, synchronisation problem of chaotic systems belonging to the addressed class of systems is explored. Systems to be synchronised are assumed to be connected in a chain through one way coupling. The general scalar coupling function is obtained by utilising the proposed algorithm and stability results are established using partial contraction theory. Numerical simulations are presented at appropriate places to verify the efficacy of the proposed approach. - Author(s): J. Fei
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1019 –1026
- DOI: 10.1049/iet-cta.2008.0199
- Type: Article
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1019
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This study presents an adaptive sliding mode controller for a micro-electro-mechanical systems (MEMS) z-axis vibratory gyroscope. The adaptive model reference state tracking control with sliding mode controller is developed to estimate the angular velocity, the damping and stiffness coefficients of MEMS vibratory gyroscope in real time. An adaptive controller that can estimate the unknown upper bound of the parameter uncertainties and external disturbance is derived and the stability of the closed-loop system is established. The adaptive sliding mode controller is designed so that the trajectory of the driving axes can track the state of the reference vibration model. The effectiveness of the proposed scheme is demonstrated through numerical simulations on an MEMS vibratory gyroscope. - Author(s): J. Xiang and T. Bräunl
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1027 –1038
- DOI: 10.1049/iet-cta.2009.0047
- Type: Article
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p.
1027
–1038
(12)
String formations of multiple vehicles where all vehicles involved are linked by a virtual thread are studied. Such a formation is useful for a fleet of vehicles driving in a platoon sequence on a road. Our approach differs from most other formation algorithms by separating distance and bearing between neighbouring vehicles. We treat the string formation as a natural consequence of a pursuit game. The proposed pursuit strategy is a distributed algorithm and uses only the relative distance error of the vehicle in front. Stable states are presented and the stability of the algorithm is proven. Finally, some simulation examples are given to demonstrate the practical application of the theoretical results. - Author(s): Z. Ding and S.T. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1039 –1046
- DOI: 10.1049/iet-cta.2008.0264
- Type: Article
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p.
1039
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The authors deal with asymptotic rejection of unknown disturbances in non-linear dynamic systems with delay. The disturbances are generated from an unknown linear exosystem whose order is known. The non-linear dynamic system contains non-linear terms in the system state variables with delay. There is no restriction on the non-linear functions, as long as they have continuous first-order derivatives. Here, a state feedback stabilisation control strategy is proposed for the system without the disturbances. An adaptive internal model is then designed and incorporated with the state feedback control design to asymptotically reject the unknown disturbances. A simulation example is included to demonstrate the proposed control design. - Author(s): J. Li and G.-Y. Tang
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1047 –1054
- DOI: 10.1049/iet-cta.2009.0062
- Type: Article
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1047
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This study researches the fault diagnosis approach for networked control systems (NCSs) with delayed measurements and inputs. Different from current fault diagnosis approaches that regard all delays in NCSs as an input delay, this paper presents a new fault diagnosis approach for NCSs that considers delayed measurements and inputs simultaneously and presents a discrete delay-free transformation approach for delayed measurements. By constructing an augmented system that comprises the states of faults and by delay-free transformations of delayed measurements and inputs for the augmented system, the problem of fault diagnosis for NCSs with delayed measurements and inputs is transformed into the problem of state observation of a delay-free augmented system. A new design approach to the fault diagnoser is presented for NCSs by constructing a novel reduced-order state observer of the augmented system, which can real-time diagnose faults without using residual to embody faults. Finally, the feasibility and effectiveness of the proposed approaches are validated by a numerical example. - Author(s): Q. Hu
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1055 –1070
- DOI: 10.1049/iet-cta.2009.0140
- Type: Article
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1055
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(16)
A robust adaptive fault-tolerant control approach for attitude tracking of flexible spacecraft is proposed for use in situations when there are reaction wheels/actuator failures, external disturbances and time-varying inertia-parameter uncertainties. More specifically, a robust controller based on sliding-mode control scheme is first designed to ensure that the equilibrium point in the closed-loop system is uniform ultimate bounded stability, incorporating constraints on actuator failures, whose failure time instants, patterns and values are unknown, as motivated from a practical spacecraft control application. Then, this controller is redesigned such that an assumption on a bound required of the unknown and time-varying inertia matrix is released by using online estimation for this bound. The prescribed robust performance is also evaluated by L2-gain less than a given small level for the penalty output signal. Complete stability and performance analysis are presented, and illustrative simulation results of an application to flexible spacecraft show that the high precise attitudes control and vibration suppression are successfully achieved using various scenarios of control effect failures. - Author(s): W. Chen ; S. Chang ; W. Zhang
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1071 –1078
- DOI: 10.1049/iet-cta.2009.0292
- Type: Article
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p.
1071
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This style deals with the problem of delay-dependent stability criterion and repetitive controller design for linear systems with time-varying input delay. First, based on the existing literature, a rate-dependent state feedback controller is designed so that the closed-loop system is stabilised and the effect of disturbances is reduced to an ideal level. Second, by combining the state vectors of the stabilised system and repetitive controller, a delay-dependent stability criterion is derived in the form of linear matrix inequality (LMI) for the augmented system. Third, by reformulating the LMIs given in the stability criterion, the design problem of the repetitive controller is transformed to an optimisation problem subject to LMI constraints. Two simulation examples are provided to illustrate the validity of the proposed method. - Author(s): R.-J. Wai ; Y.-C. Huang ; Z.-W. Yang ; C.-Y. Shih
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1079 –1093
- DOI: 10.1049/iet-cta.2009.0166
- Type: Article
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p.
1079
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(15)
This study focuses on the development of an adaptive fuzzy-neural-network velocity sensorless control (AFNNVSC) scheme for an n-link robot manipulator to achieve high-precision position tracking. In general, it is difficult to adopt a model-free design without the joint velocity/acceleration information to achieve this control objective owing to uncertainties in practical applications, such as friction forces, external disturbances and parameter variations. In order to cope with this problem, an AFNNVSC scheme including a non-linear observer and a fuzzy-neural-network (FNN) controller is investigated without the requirement of prior system information. This non-linear observer is used to estimate joint velocities of the robot manipulator. Then, a four-layer FNN is utilised for the major control role without auxiliary compensated control, and the adaptive tuning laws of network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the stable control performance. Experimental results of a two-link robot manipulator actuated by dc servomotors are given to verify the effectiveness and robustness of the proposed AFNNVSC methodology. In addition, the superiority of the proposed control scheme is indicated in comparison with the proportional-integral-differential control, computed torque control, Takagi–Sugeno–Kang-type fuzzy-neural-network control and robust-neural-fuzzy-network control systems.
Adaptive control allocation for non-linear systems with internal dynamics
Fault detection for linear uncertain systems with sensor faults
Robust mode delay-dependent ℋ∞ control of discrete-time systems with random communication delays
Consensus of multiple dynamic agents with sampled information
Tracking control for angular-rate-sensorless vertical take-off and landing aircraft in the presence of angular-position measurement delay
Identification of non-uniformly sampled multirate systems with application to process data compression
Recursive triangulation description of the feasible parameter set for bounded-noise models
Comparative study of stabilising methods for adaptive speed sensorless full-order observers with stator resistance estimation
Contraction theory-based recursive design of stabilising controller for a class of non-linear systems
Robust adaptive vibration tracking control for a micro-electro-mechanical systems vibratory gyroscope with bound estimation
String formations of multiple vehicles via pursuit strategy
Asymptotic rejection of unknown sinusoidal disturbances in non-linear dynamic systems with delay
Fault diagnosis for networked control systems with delayed measurements and inputs
Robust adaptive sliding-mode fault-tolerant control with L2-gain performance for flexible spacecraft using redundant reaction wheels
Linear matrix inequality-based repetitive controller design for linear systems with time-varying input delay
Adaptive fuzzy-neural-network velocity sensorless control for robot manipulator position tracking
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- Author(s): X. Ye ; S. Liu ; P.X. Liu
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1094 –1100
- DOI: 10.1049/iet-cta.2009.0219
- Type: Article
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p.
1094
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(7)
The modelling and stabilising control of networked control systems (NCSs) with stochastic packet loss and time-varying delays are addressed. In specific, a novel Markovian jump linear system with time-varying delays is used to model the NCS. Without using the augmented state method, sufficient conditions for the stochastic stabilisation of the NCS with packet loss and time-varying delays are obtained via the mode-dependent Lyapunov function method. The mode-dependent controller for the closed-loop NCS is presented in the linear matrix inequalities formulation via the Shur complement theory. A numerical example is given to illustrate the effectiveness of the proposed method. - Author(s): X.-L. Zhu ; Y. Wang ; G.-H. Yang
- Source: IET Control Theory & Applications, Volume 4, Issue 6, p. 1101 –1107
- DOI: 10.1049/iet-cta.2009.0176
- Type: Article
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p.
1101
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(7)
The authors investigate the stability for continuous-time systems with interval time-varying delay. To deal with the non-linear time-varying coefficients derived from Jensen's integral inequality, a well-known feature of the sum of these coefficients is utilised. Combining with a delay partition method, the upper bound of the derivative of the Lyapunov functional can be estimated more tightly and expressed as a convex combination with respect to the reciprocal of the delay rather than the delay. New less conservative stability criteria are derived in terms of linear matrix inequalities. Numerical examples are given to illustrate the effectiveness of the proposed results.
Modelling and stabilisation of networked control system with packet loss and time-varying delays
New stability criteria for continuous-time systems with interval time-varying delay
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