Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 5, Issue 14, 22 September 2011
Volumes & issues:
Volume 5, Issue 14
22 September 2011
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- Author(s): M.S. Mahmoud
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1577 –1585
- DOI: 10.1049/iet-cta.2010.0665
- Type: Article
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p.
1577
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(9)
This study considers the problem of controlling the patient blood gases with the objective of maintaining these blood gases in their physiological ranges during a stable extracorporeal circulation process. It focuses on regulating the arterial partial pressure of oxygen and carbon dioxide. Two distinct control design schemes are considered. The first scheme is based on ℋ2 performance and the second scheme is derived from an ℋ∞ criteria. By incorporating a general dynamic output-feedback controller, LMI-based characterisation of the controller design are established. Using typical case studies, simulation experiments are performed and the ensuing results are analysed and compared. - Author(s): X. Cai ; L. Liu ; J. Huang ; W. Zhang
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1586 –1596
- DOI: 10.1049/iet-cta.2010.0365
- Type: Article
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p.
1586
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(11)
Globally asymptotical stabilisation for a class of feedback linearisable differential inclusion systems with disturbances is dealt with in this study. A systematic method for constructing the control Lyapunov function (CLF) is presented by solving the Lyapunov equation. Sufficient and necessary conditions for a quadratic CLF to be a CLF for single-input and multi-input systems are acquired, respectively. Then, continuous state feedback laws are designed for corresponding systems. Finally, the effectiveness of the proposed method is illustrated by two simulation examples. - Author(s): S.J. Yoo
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1597 –1608
- DOI: 10.1049/iet-cta.2010.0644
- Type: Article
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p.
1597
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(12)
An adaptive control approach is proposed for path tracking and obstacle avoidance of mobile robots considering unknown skidding and slipping. The proposed adaptive controller consisting of a kinematic controller and a torque controller for the dynamic model is derived to compensate the unknown skidding and slipping effect. From Lyapunov-stability analysis, it is proved regardless of unknown skidding and slipping that all signals of the controlled closed-loop system are semiglobally uniformly ultimately bounded, the point tracking errors converge to an adjustable neighbourhood of the origin outside the obstacle detection region and the obstacle avoidance is guaranteed inside the obstacle detection region. The performance and stability of the proposed control system are verified from simulation results. - Author(s): F. Li and J. Sun
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1609 –1616
- DOI: 10.1049/iet-cta.2010.0558
- Type: Article
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p.
1609
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(8)
The observability for the Boolean control networks with impulsive effects is discussed. After a brief introduction on converting the Boolean control networks with impulsive effects into impulsive discrete-time systems, necessary and sufficient conditions of observability for the Boolean control networks with impulsive effects are obtained. Finally, an example is presented to show the effectiveness of the proposed results. - Author(s): H. Xin ; Z. Lu ; Z. Qu ; D. Gan ; D. Qi
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1617 –1629
- DOI: 10.1049/iet-cta.2010.0538
- Type: Article
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p.
1617
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(13)
A cooperative control strategy was provided to regulate the active and reactive power outputs of multiple photovoltaic (PV) generators installed on a distribution network. The proposed control strategy not only makes a group of PVs converge and operate at the same ratio of available power, but also regulates the total active and reactive power outputs of the PVs such that the active power across a concerned line and the voltage of a critical bus are kept to a referenced value. The stability of the closed-loop dynamical system was analysed by considering some special properties of classical distribution networks, and the minimal requirement of the communication topology among the PVs was provided. Simulations on a radial distribution power system network were provided to verify the validness of the proposed control strategy. - Author(s): D. Xing ; J. Su ; Y. Liu ; J. Zhong
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1630 –1636
- DOI: 10.1049/iet-cta.2010.0604
- Type: Article
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p.
1630
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This study develops a robust method to control the humanoid joint based on a disturbance observer (DOB). In controlling the bipedal robot, it is usually difficult to precisely compensate for the gravity torques, friction forces, model mismatch and so on. The authors regard these as disturbances and employ the DOB to design a robust controller for the humanoid joint. The requirements for joint control are firstly discussed; a single joint model, that is, inverted pendulum model, is illustrated and the open-loop transfer function of the ankle joint is also presented. The authors consider the DOB for compensation, develop the design criterions of the filter and propose the robust servocontrol structure of the joint controller. For a given simulated robot, the performance and robustness of the proposed controller are demonstrated comparing with the proportional–integral–differential controller, and the effect of model perturbations is especially considered in case of the system performance. The results show the validation and feasibility of the proposed method. - Author(s): Z.M. Kassas
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1637 –1647
- DOI: 10.1049/iet-cta.2010.0467
- Type: Article
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p.
1637
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Input and output time delays in continuous-time (CT) dynamic systems impact such systems differently as their effects are encountered before and after the state dynamics. Given a fixed sampling time, input and output signals in multiple-input multiple-output (MIMO) systems may exhibit any combination of the following four cases: no delays, integer-multiple delays, fractional delays and integer-multiple plus fractional delays. A common pitfall in the digital control of delayed systems literature is to only consider the system timing diagram to derive the discrete-time (DT) equivalent model; hence, effectively ‘lump’ the delays across the system as one total delay. DT equivalent models for systems with input delays are radically different than those with output delays. Existing discretisation techniques for delayed systems usually consider the delays to be integer-multiples of the sampling time. This study is intended to serve as a reference for systematically deriving DT equivalent models of MIMO systems exhibiting any combination of the four delay cases. This algorithm is applied towards discretising an MIMO heat exchanger process with non-uniform input and output delays. A significant improvement towards the CT response was noted when applying this algorithm as opposed to rounding the delays to the closest integer-multiple of the sampling time.
Robust control of blood gases during extracorporeal circulation
Globally asymptotical stabilisation for a class of feedback linearisable differential inclusion systems
Adaptive tracking and obstacle avoidance for a class of mobile robots in the presence of unknown skidding and slipping
Observability analysis of Boolean control networks with impulsive effects
Cooperative control strategy for multiple photovoltaic generators in distribution networks
Robust approach for humanoid joint control based on a disturbance observer
Discretisation of continuous-time dynamic multi-input multi-output systems with non-uniform delays
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- Author(s): D.Q. Wang
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1648 –1657
- DOI: 10.1049/iet-cta.2010.0416
- Type: Article
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p.
1648
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(10)
For parameter estimation of output error moving average (OEMA) systems, this study combines the auxiliary model identification idea with the filtering theory, transforms an OEMA system into two identification models and presents a filtering and auxiliary model-based recursive least squares (F-AM-RLS) identification algorithm. Compared with the auxiliary model-based recursive extended least squares algorithm, the proposed F-AM-RLS algorithm has a high computational efficiency. Moreover, a filtering and auxiliary model-based least squares iterative (F-AM-LSI) identification algorithm is derived for OEMA systems with finite measurement input–output data. Compared with the F-AM-RLS approach, the proposed F-AM-LSI algorithm updates the parameter estimation using all the available data at each iteration, and thus can generate highly accurate parameter estimates. - Author(s): Z.-J. Tang ; T.-Z. Huang ; J.-L. Shao ; J.-P. Hu
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1658 –1665
- DOI: 10.1049/iet-cta.2010.0653
- Type: Article
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p.
1658
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(8)
In this article, the authors study a leader-following consensus problem for multi-agent systems in a sampled-data setting. A distributed coordination algorithm based on sampled-data control is proposed to track the considered leader. By employing M-matrix theory, the authors derive sufficient conditions on the sampling period and control parameters to ensure that the tracking errors are bounded. Numerical simulations are presented to illustrate the effectiveness of the theoretical results. Moreover, some previous results concerning the leader-following problem with switched coupling topology are improved. - Author(s): Z. Yan ; J. Wang ; Y. Li
- Source: IET Control Theory & Applications, Volume 5, Issue 14, p. 1666 –1675
- DOI: 10.1049/iet-cta.2010.0531
- Type: Article
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p.
1666
–1675
(10)
Under finite data rate communication constraint, it is difficult at present to determine the precise lower bound of the channel data rate for achieving a control goal using memoryless coding scheme, and it is useful to work out as many memoryless coding schemes as possible for a control task. Based on spherical polar coordinates, the authors propose a new memoryless time varying coding scheme to asymptotically stabilise a discrete linear time invariant system through channel of finite data rate between the sensor and the controller. One attractive property of the authors proposed coding scheme is that a definite relation between quantised data and the corresponding quantisation error is established, which facilitates the analysis of system stability and the determination of data rate. Also, adopting spherical polar coordinates makes the problem of finding the parameters of the quantiser and the controller easy to solve.
Least squares-based recursive and iterative estimation for output error moving average systems using data filtering
Leader-following consensus for multi-agent systems via sampled-data control
Memoryless coding scheme based on spherical polar coordinates for control under data rate constraint
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