Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 6, Issue 2, 19 January 2012
Volumes & issues:
Volume 6, Issue 2
19 January 2012
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- Author(s): F. Shi and J. Wang
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 173 –181
- DOI: 10.1049/iet-cta.2011.0063
- Type: Article
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p.
173
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The dynamics of many physical systems can be suitably described as the form of port-controlled Hamiltonian systems. Based on this, a number of control design methods have been successfully proposed and applied in both mechanical and electrical systems. However, the rigorous structure requirements of the classical Hamilton system inevitably limit its scope of application, with the multi-machine power system considering transfer conductances as one notorious example. This study presents the pseudo-generalised Hamiltonian system, which has a more general form and a wider range of application. A new Lyapunov candidate function is proposed and proved to be a real Lyapunov function under some assumptions. Two global centralised excitation control strategies are designed by a damping injection energy balancing method and the L2-disturbance attenuation method, respectively. Furthermore, a multi-machine power system with transfer conductance is taken as an example to explicitly describe the application of the proposed theory. Experimental results demonstrate the effectiveness of the methodology presented in this study. - Author(s): J.H. Baayen and W.J. Ockels
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 182 –191
- DOI: 10.1049/iet-cta.2011.0037
- Type: Article
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p.
182
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A novel tracking paradigm for flying geometric trajectories using tethered kites is presented. It is shown how the differential-geometric notion of turning angle can be used as a one-dimensional representation of the kite trajectory, and how this leads to a single-input single-output tracking problem. Based on this principle a Lyapunov-based non-linear adaptive controller is developed that only needs control derivatives of the kite aerodynamic model. The resulting controller is validated using simulations with a point-mass kite model. - Author(s): X.-G. Yan ; S.K. Spurgeon ; C. Edwards
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 192 –202
- DOI: 10.1049/iet-cta.2011.0071
- Type: Article
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192
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Global decentralised stabilisation of a class of interconnected time-varying delay systems is considered, where both known and uncertain interconnections involve time delay. Matched and mismatched interconnections are considered separately to reduce the conservatism. A composite sliding surface is designed and the stability of the associated sliding motion, which is governed by a time delayed interconnected system, is analysed based on the Razumikhin–Lyapunov approach. A decentralised static output feedback variable structure control which is dependent on time delay is synthesised to drive the interconnected system to the sliding surface globally. Simulation results show the effectiveness of the proposed approach. - Author(s): A. Ataei and Q. Wang
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 203 –215
- DOI: 10.1049/iet-cta.2011.0143
- Type: Article
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203
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In recent years, sum-of-squares (SOS) method has attracted increasing interest as a new approach for stability analysis and controller design of non-linear dynamic systems. In this study, the authors present a robust SOS/robust LMI method to design a non-linear controller for longitudinal dynamics of a hypersonic aircraft model with parametric uncertainties. To this end, the control design problem is first formulated as a robust SOS problem. Then, an LMI representation of the robust SOS problem is derived using a proposed algorithm and is solved via a stochastic ellipsoid method. As the simulation results show, the designed robust controller is capable of stabilising the aircraft and following pilot commands under up to 50% variation in aerodynamic coefficients. - Author(s): K. Shojaei and A.M. Shahri
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 216 –228
- DOI: 10.1049/iet-cta.2011.0169
- Type: Article
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216
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This study addresses the trajectory tracking control problem of electrically driven wheeled mobile robots under non-holonomic constraints in the presence of model uncertainties without velocity measurement. By defining a suitable set of output equations, a new input–output model of wheeled mobile robots is developed, which helps the designer utilise the classic control algorithms of robot manipulators. An observer-based trajectory tracking controller is proposed for the new wheeled mobile robot (WMR) model. Then, in order to reduce the design complexity, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. Adaptive robust techniques are also adopted to cope with the parametric and non-parametric uncertainties in the WMR model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and efficiency of the proposed controller. - Author(s): Y.-H. Lan ; H.-X. Huang ; Y. Zhou
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 229 –234
- DOI: 10.1049/iet-cta.2010.0484
- Type: Article
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229
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The study is concerned with a method of observer-based control for fractional-order uncertain linear systems with the fractional commensurate order a (1≤a<2) based on linear matrix inequality (LMI) approach. First, a sufficient condition for robust asymptotic stability of the observer-based fractional-order control systems is presented. Next, by using matrix's singular value decomposition and LMI techniques, the existence condition and method of designing a robust observer-based controller for such fractional-order control systems are derived. Unlike previous methods, the results are obtained in terms of LMIs, which can be easily obtained by Matlab's LMI toolbox. Finally, a numerical example demonstrates the validity of this approach. - Author(s): D. Fulwani ; B. Bandyopadhyay ; L. Fridman
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 235 –242
- DOI: 10.1049/iet-cta.2010.0727
- Type: Article
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The study proposes a method to design a non-linear sliding surface to achieve better transient response for a class of single-input and single-output (SISO) non-linear uncertain system represented in a Brunowsky canonical form. The proposed surface can also be used for linear uncertain systems with matched perturbations. The proposed surface increases the damping ratio of the closed-loop system from its initial low value; as the output approaches the setpoint from its initial value. Initially, the system is lightly damped resulting in a quick response and as the output approaches the setpoint, the system is overdamped to avoid overshoot. The existence of sliding mode is proved and a new control law is proposed to enforce sliding motion. The scheme is able to achieve low overshoot and short settling time simultaneously which is not possible with a linear sliding surface. To ease the synthesis of the non-linear surface, linear matrix inequalities-based algorithm is proposed. Effectiveness of the proposed scheme is illustrated by the simulation results. - Author(s): D. Selişteanu ; E. Petre ; M. Roman ; D. Şendrescu
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 243 –253
- DOI: 10.1049/iet-cta.2011.0067
- Type: Article
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p.
243
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The growth rates of the micro-organisms in bioreactors are described by complex kinetic expressions, and the modelling and estimation of such kinetics are essential for the design of control strategies. This study deals with the online estimation of kinetic rates of a baker's yeast process, taking place inside a fed-batch bioreactor. This bioprocess is widely used in bioindustry; its model is highly non-linear and, furthermore, the available online measurements are missing and the reaction kinetics is not perfectly known. The unknown kinetics is estimated by using non-linear observers, based on high-gain approach. Two high-gain observers are designed and implemented: one for the specific growth rates and the other for the reaction rates of the baker's yeast bioprocess. The multiple estimation schemes do not require any model for the kinetic rates. The tuning of the proposed observers is reduced to the calibration of a single parameter. An observer-based estimator is also implemented in order to use it for comparisons. Numerical simulations are included to test the behaviour and the performance of the proposed observers. - Author(s): J. Shi ; L. Miao ; M. Ni ; J. Shen
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 254 –260
- DOI: 10.1049/iet-cta.2010.0639
- Type: Article
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p.
254
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Since any disturbances and faults may lead to significant performance degradation in practical dynamical systems, it is essential for a system to be robust to disturbances and, at the same time, sensitive to faults. For this purpose, the authors propose an optimal robust fault-detection filter for linear discrete time-varying systems. The algorithm solves linear matrix inequalities to obtain the optimal robust H∞ estimator, minimises the H∞ norm from uncertain disturbances to estimation errors and uses H− index to maximise the minimum effect of faults on the residual output of the filter. This approach is applied to the micro-electro-mechanical system-based inertial navigation system/global positioning system; and the simulation results show that the new algorithm can achieve small estimation errors and has high sensitivity to faults. - Author(s): W. Farah ; G. Mercère ; T. Poinot
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 261 –273
- DOI: 10.1049/iet-cta.2010.0725
- Type: Article
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p.
261
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A method is introduced to determine the uncertainty domains of the estimated parameters for multi-input multi-output linear time-invariant continuous-time systems. This method uses a continuous-time subspace-based algorithm in order to identify the parameters of the system. This identification method is specific because the estimated state-space realisation is described with the help of a state-space canonical form. Then, a bounded-error approach is considered in order to characterise the uncertainty domains of the coefficients of the state-space matrices. A simulation example is included to demonstrate the efficiency of the developed method. - Author(s): J.-L. Li and G.-H. Yang
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 274 –285
- DOI: 10.1049/iet-cta.2010.0729
- Type: Article
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p.
274
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This study presents a direct adaptive control scheme to accommodate actuator failures for multi-input single-output linear systems with parameter uncertainties. The scheme requires weaker hypothesis than the existing relevant results and it removes some assumptions on faulty systems, which is obtained based on a novel design idea that every functional actuator shares a part of the pre-specified control task as well as the negative effect of actuator faults. Adaptive failure accommodation controllers can guarantee systems internal stability and asymptotically tracking. Simulation examples show the effectiveness of the proposed scheme by a linearised Boeing 747 model. - Author(s): L. Xu ; Q. Wang ; W. Li ; Y. Hou
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 286 –296
- DOI: 10.1049/iet-cta.2010.0654
- Type: Article
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p.
286
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This study is concerned with the stability analysis and stabilisation problem of the full-envelope networked flight control systems, where the system dynamic can be modelled as the switched time-varying delay systems evolving on the locally overlapped switching law. Firstly, a stability analysis tool based on the common Lyapunov function method and the average dwell time method is proposed to guarantee the exponential stability of the considered system. The common Lyapunov–Krasovskii function is utilised to obtain delay-dependent criterion and guarantee exponential stability for each locally overlapped group of the switched time-varying delay system, and the average dwell time approach is used to guarantee stability when switching occurs between different locally overlapped groups. Then, a control design algorithm is provided for determining the state feedback controller gain in the linear matrix inequality formalism, which makes it easier to obtain the gain by using existing tools. Finally, the illustrative example of the stability analysis and the flight controller design for the highly manoeuvrable technology vehicle are given, and it demonstrates the effectiveness of the proposed results. - Author(s): K. Mori
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 297 –304
- DOI: 10.1049/iet-cta.2010.0693
- Type: Article
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297
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Within the framework of the factorisation approach, the author presents parameterisation methods for stabilising controllers. The parameterisations of this study are characterised by an ideal finitely generated by some strictly causal stable transfer functions. Several typical examples of the parameterisations are also presented, namely (i) all stabilising controllers such that their relative degrees are more than or equal to some fixed number in the continuous-time linear time-invariant (LTI) system model; (ii) all stabilising controllers such that they must have at least some fixed number of delay operators in the discrete-time LTI system model; (iii) all stabilising controllers such that they must have some delay operators in the multidimensional system model. The parameterisation method of this study is also applied to (iv) a system that is stabilisable but that does not admit a doubly coprime factorisation.
Stabilising control of multi-machine power systems with transmission losses based on pseudo-generalised Hamiltonian theory
Tracking control with adaption of kites
Global decentralised static output feedback sliding-mode control for interconnected time-delay systems
Non-linear control of an uncertain hypersonic aircraft model using robust sum-of-squares method
Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach
Observer-based robust control of a (1≤a<2) fractional-order uncertain systems: a linear matrix inequality approach
Non-linear sliding surface: towards high performance robust control
Estimation of kinetic rates in a baker's yeast fed-batch bioprocess by using non-linear observers
Optimal robust fault-detection filter for micro-electro-mechanical system-based inertial navigation system/global positioning system
Bounded-error uncertainty domain description for continuous-time state-space model
Adaptive actuator failure accommodation for linear systems with parameter uncertainties
Stability analysis and stabilisation of full-envelope networked flight control systems: switched system approach
Parameterisation of stabilising controllers with precompensators
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- Author(s): P. Li and Z.-Q. Zheng
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 305 –312
- DOI: 10.1049/iet-cta.2010.0621
- Type: Article
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305
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A robust adaptive second-order sliding-mode control scheme with finite reaching time is proposed for a class of uncertain non-linear systems. It is shown that the problem is equivalent to the finite-time stabilisation of a second-order input–output dynamics with bounded uncertainties. The controller is designed by using geometric homogeneity and adaptive sliding-mode concept. It contains two parts: one part achieves finite-time stabilisation of the second-order input–output dynamics without uncertainties; the other part rejects bounded uncertainties, and the upper bounds of uncertainties are not required to be known in advance. As a result, a finite-time convergent second-order sliding mode is established. The convergence rate of the second-order sliding mode can be hastened through tuning the controller parameters, and the robustness is ensured. The method is evaluated in simulations on an academic example. - Author(s): J.W. Ko and P.G. Park
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 313 –318
- DOI: 10.1049/iet-cta.2011.0009
- Type: Article
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313
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The authors consider in this study the problem of reducing conservatism in stability and stabilisation margin of continuous-time Takagi–Sugeno (T–S) fuzzy systems, where the fuzzy weighting functions are assumed to be differentiable and their ranges of variation are assumed to be bounded by some parameters. To compensate for the latter constraint, the conventional quadratic relaxation technique is appropriately modified and the free weighting matrix for the former assumption is further indexed in accordance with the fuzzy weighting functions to derive more degrees of freedom. By applying the relaxed free weighting matrices into the resulting quadratic summation representation and by utilising the linearity of the constraints on the time-derivative of the membership functions, better performance behaviour can be achieved over existing works, which is demonstrated theoretically and by some examples. - Author(s): W. Li and Y. Jia
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 319 –326
- DOI: 10.1049/iet-cta.2011.0167
- Type: Article
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p.
319
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This article studies the problem of state estimation for jump Markov linear systems with unknown measurement noise variance parameters. By using the concept of conjugate prior distributions for noise statistics, a novel estimator is developed by applying the basic interacting multiple model (IMM) approach and the Kalman filtering theory. The main difficulties encountered are the exponentially growing terms in the interacting stage of the IMM and the coupled state and noise variance in the likelihood functions. They are overcome by employing the merging scheme via matching the first two moments and the variational Bayesian approximation technique, respectively. Simulation results are presented to verify the effectiveness of the proposed filter via a manoeuvring target tracking example. - Author(s): A.E. Abharian ; H. Khaloozadeh ; R. Amjadifard
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 327 –334
- DOI: 10.1049/iet-cta.2010.0062
- Type: Article
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RETRACTED - Author(s): J. Liu and J. Zhang
- Source: IET Control Theory & Applications, Volume 6, Issue 2, p. 335 –339
- DOI: 10.1049/iet-cta.2011.0147
- Type: Article
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This note is concerned with the problem of delay-dependent stability for discrete-time systems with time-varying delay. Two novel delay-dependent stability conditions are established by bounding the forward difference of the Lyapunov functional based on the reciprocally convex approach and a scale inequality, respectively. These criteria improve the existing ones with smaller computation burden and less conservatism, which is verified by both theoretical proof and a numerical example.
Robust adaptive second-order sliding-mode control with fast transient performance
Further enhancement of stability and stabilisability margin for Takagi–Sugeno fuzzy systems
State estimation for jump Markov linear systems by variational Bayesian approximation
Genetic-sigmoid random early detection covariance control as a jitter controller - RETRACTED
Note on stability of discrete-time time-varying delay systems
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