IET Control Theory & Applications
Volume 9, Issue 11, 16 July 2015
Volumes & issues:
Volume 9, Issue 11
16 July 2015
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- Author(s): Dmitry Gromov and Peter E. Caines
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1629 –1636
- DOI: 10.1049/iet-cta.2014.0867
- Type: Article
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In this study, a formulation of thermodynamic systems in terms of contact geometry is proposed. Furthermore, a systematic approach to the description and analysis of composite thermodynamic systems, that is, systems containing a number of interacting thermodynamic subsystems, is developed. In such systems, there are always heat, work or matter flows between the subsystems which, together with constructive restrictions, form the interconnection structure of the composite system. This structure can be described by a set of constraints imposed on the system. In geometric terms, this can be seen as a restriction of the system space to a certain ‘constraint sub-manifold’. Moreover, there are kinematic (non-holonomic) constraints which restrict the system's dynamics while imposing no restrictions on the system configuration. Both geometric and kinematic constraints and their influence on the dynamics of the composite system are discussed. Finally, several types of composite thermodynamic system are presented and the LaSalle Invariance Principle is used to analyse the asymptotic dynamical behaviour of one important example.
- Author(s): Zhan Li ; Jinyong Yu ; Xing Xing ; Huijun Gao
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1637 –1643
- DOI: 10.1049/iet-cta.2014.1068
- Type: Article
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1637
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A robust output-feedback attitude controller for three-degree-of-freedom laboratory helicopter is proposed in this study. The laboratory helicopter has three rotational degree-of-freedom and preserves essential control challenges in the attitude control of actual helicopter. An output injection sliding-mode observer is developed to estimate the angular velocities and the external disturbances in finite time. The estimations are used to construct a robust LQR controller that requires angular position measurements only and compensates the external disturbances. The finite time asymptotic convergence of the observed states and disturbances to the actual values is proved and the results are verified numerically through simulation.
- Author(s): Duyu Liu ; Xingwen Liu ; Gang Xiao
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1644 –1652
- DOI: 10.1049/iet-cta.2014.0889
- Type: Article
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1644
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This study studies the problem of exponential stability and L 2-gain analysis of a class of switched systems with delay varying in an interval. By using a newly constructed Lyapunov–Krasovskii functional and the average dwell-time scheme, delay-dependent sufficient conditions are obtained which are expressed as linear matrix inequalities. These conditions provide a solution for finding a switching signal under which exponential stability and normal L 2-gain of the switched delay system are guaranteed. Two illustrative examples are given to demonstrate the effectiveness of the proposed results.
- Author(s): James Richard Forbes
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1653 –1661
- DOI: 10.1049/iet-cta.2014.0890
- Type: Article
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1653
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Set-point attitude control of a rigid body explicitly preventing actuator saturation is considered. The attitude control approach developed does not employ any sort of direction-cosine-matrix (DCM) parameterisation, such as Euler angles or quaternions. Rather, the DCM is used directly within the feedback control algorithm. Together a proportional control term and an angular velocity control term make up the attitude controller. The angular velocity control is composed of a strictly positive real system subject to a special input non-linearity. The specific form of the proportional control and angular velocity control ensure control torques are below the saturation level of the on-board actuators. Two controller synthesis methods are considered. The first uses the linearised system, the solution to the linear quadratic regulator problem, and the Kalman–Yakubovich–Popov lemma to design the controller. The second employs a simple low-pass filter that is guaranteed to stabilise the closed-loop system; tuning the low-pass filter is also considered. Numerical simulation results demonstrate effective closed-loop control in the presence of plant disturbances and sensor noise.
- Author(s): Chan Gao ; Xiao-Hua Liu ; Wuquan Li
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1662 –1669
- DOI: 10.1049/iet-cta.2014.1088
- Type: Article
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1662
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This study is concerned with robust quasi-min–max model predictive control (MPC) for a class of discrete-time singular systems with persistent disturbance and input constrains. To deal with the persistent disturbance, the authors introduce the notion of input-to-state stability (ISS) of discrete-time singular system for the first time. The optimal control can be obtained by solving a quasi-min–max optimal problem of a finite horizon cost function. On the basis of the proposed dual-mode MPC approach, it can be proved that the closed-loop discrete-time singular system is ISS, regular and causal. Finally, a numerical simulation shows the feasibility and effectiveness of the proposed method.
- Author(s): Michael Basin ; Linlin Li ; Minjia Krueger ; Steven X. Ding
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1670 –1675
- DOI: 10.1049/iet-cta.2014.0969
- Type: Article
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1670
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This study presents a fault-tolerant continuous super-twisting control algorithm for dynamical systems, subject to Lipshitzian and non-Lipshitzian bounded disturbances. The conditions of finite-time convergence of the entire system state to the origin are obtained. An experimental verification of the designed fault-tolerant algorithm is conducted for a DTS200 three-tank system through varying fault sources, disturbances, input conditions and inter-tank connections.
- Author(s): Lanning Wang ; Weiqun Wang ; Guangchen Zhang ; Weimin Chen
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1676 –1682
- DOI: 10.1049/iet-cta.2014.0875
- Type: Article
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This study is concerned with the problem of generalised Kalman–Yakubovich–Popov (GKYP) lemma and its application to two-dimensional (2D) continuous-discrete systems described by Roesser model. On the basis of the feature of states in the system, a rectangular finite frequency range is characterised by a linear matrix inequality and then combined with 𝒮-procedure, the GKYP lemma is developed for 2D continuous-discrete systems in Roesser model. As special cases of this lemma, 2D continuous-discrete case finite frequency bounded realness and positive realness are investigated as well. Furthermore, the finite frequency 2D positive realness control problem via state-feedback controllers are considered based on the developed lemma. Finally, numerical examples are given to illustrate the effectiveness of the proposed method.
- Author(s): Herman Yoseph Sutarto ; René K. Boel ; Endra Joelianto
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1683 –1691
- DOI: 10.1049/iet-cta.2014.0909
- Type: Article
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This study proposes a novel data-based approach for estimating the parameters of a stochastic hybrid model describing the traffic flow in an urban traffic network with signalized intersections. The model represents the evolution of the traffic flow rate, measuring the number of vehicles passing a given location per time unit. This traffic flow rate is described using a mode-dependent first-order autoregressive (AR) stochastic process. The parameters of the AR process take different values depending on the mode of traffic operation – free flowing, congested or faulty – making this a hybrid stochastic process. Mode switching occurs according to a first-order Markov chain. This study proposes an expectation-maximization (EM) technique for estimating the transition matrix of this Markovian mode process and the parameters of the AR models for each mode. The technique is applied to actual traffic flow data from the city of Jakarta, Indonesia. The model thus obtained is validated by using the smoothed inference algorithms and an online particle filter. The authors also develop an EM parameter estimation that, in combination with a time-window shift technique, can be useful and practical for periodically updating the parameters of hybrid model leading to an adaptive traffic flow state estimator.
- Author(s): Neda Eskandari ; Guy A. Dumont ; Z. Jane Wang
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1692 –1699
- DOI: 10.1049/iet-cta.2014.0879
- Type: Article
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The authors suggest a framework for human–automation interaction in safety-critical continuous systems under shared control and consider continuous-time linear time-invariant (LTI) dynamics to formalise our physical models mathematically. Their goal is to determine whether or not a given user-interface provides the information required for a certain task, under the assumption that the user does not have access to any information beyond what is provided in the display. They identify observability-based conditions under which a user-interface provides the user with necessary information to accomplish a given task, formulated as a subset of the state space. They, therefore formulate the novel delay-incorporating user-observable subspace, and the delay-incorporating user-predictable subspace and compare them with the space spanned by the combination of the states which create the task. They assume the user is a special type of observer, with capabilities corresponding to different levels of knowledge regarding the current user's input and its derivatives. In addition, they consider that state reconstruction and prediction incorporate a processing delay.
- Author(s): Nguyen Dinh That and Quang P. Ha
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1700 –1708
- DOI: 10.1049/iet-cta.2014.1151
- Type: Article
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This study is concerned with the problem of quasi-sliding mode control design for a class of discrete-time systems with time-varying delay and unmatched disturbances. On the basis of the Lyapunov–Krasovskii method, combined with the reciprocally convex approach, sufficient conditions for the existence of a stable sliding surface are first derived in terms of matrix inequalities. These conditions also guarantee that the state trajectories of the reduced-order system are exponentially convergent within a ball whose radius can be minimised to deal with the effects of time-varying delay and disturbances. A robust quasi-sliding mode control scheme is then developed to drive the system state trajectories towards that ball in a finite time and maintain them therein after subsequent time. A numerical example is given to illustrate the effectiveness of the proposed approach.
Stability of composite thermodynamic systems with interconnection constraints
Robust output-feedback attitude control of a three-degree-of-freedom helicopter via sliding-mode observation technique
Stability and L 2-gain analysis for switched systems with interval time-varying delay
Direction-cosine-matrix-based attitude control subject to actuator saturation
Input-to-state stability of discrete-time singular systems based on quasi-min–max model predictive control
Finite-time-convergent fault-tolerant control for dynamical systems and its experimental verification for DTS200 three-tank system
Generalised Kalman–Yakubovich–Popov lemma with its application in finite frequency positive realness control for two-dimensional continuous-discrete systems in the Roesser model form
Parameter estimation for stochastic hybrid model applied to urban traffic flow estimation
Delay-incorporating observability and predictability analysis of safety-critical continuous-time systems
Discrete-time sliding mode control with state bounding for linear systems with time-varying delay and unmatched disturbances
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- Author(s): Hang Geng ; Yan Liang ; Linfeng Xu
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1709 –1716
- DOI: 10.1049/iet-cta.2014.1134
- Type: Article
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1709
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In multi-sensor fusion, it is hard to guarantee that all sensors have an identical sampling rate, especially in the distributive and/or heterogeneous case. Meanwhile, system modelling may face the coexistence of multiple uncertainties including stochastic noise, unknown input (UI) and faults in complex environment. To this end, the authors propose the problem of fault detection for multi-rate sensor fusion systems subject to UI, stochastic noise with known covariance, and faults imposed on the actuator and sensors. Furthermore, the new form of multi-rate observer (MRO) is presented and lifted to the single-rate one with causality constraint for parameter design. Observer parameters are determined optimally in pursuit of the UI decoupling and maximum noise attenuation under the causality constraint. Differing from the traditional observer, the proposed MRO is time varying, that is, its parameters need recursive computation and hence has better adaptability to the effect of uncertainties. Finally, a multi-rate residual generator is constructed via a hypothesis test in which the threshold is adaptively designed. A numerical example is given to show the effectiveness of their proposed method.
- Author(s): Yue-E Wang ; Xi-Ming Sun ; Baowei Wu
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1717 –1722
- DOI: 10.1049/iet-cta.2014.0526
- Type: Article
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This study investigates the input-to-state stability issue and the Lyapunov–Krasovskii functional construction for a class of switched non-linear systems with time-varying input delay under mode-dependent average dwell-time scheme. The authors assume that an exponential stabilising state feedback controller has been predesigned for the nominal system and the Lyapunov function for the nominal closed-loop system is available. When input delay and disturbance are involved, the closed-loop system may be unstable under the average dwell time for the nominal system. In allusion to this instance, by introducing a positive definite relaxation matrix and constructing a novel piecewise Lyapunov–Krasovskii functional based on the known Lyapunov function, they provide sufficient conditions and the upper bound of the input delay such that the closed-loop system is input-to-state stable with respect to the disturbance. Finally, numerical examples are given to illustrate the effective of the proposed method.
- Author(s): Hongbo Pang and Jun Zhao
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1723 –1730
- DOI: 10.1049/iet-cta.2014.1273
- Type: Article
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This study examines the issues of robust passivity, feedback passification and global stabilisation for a class of switched non-linear system with structural uncertainty. First, a sufficient condition for such a system to be robust passive is given by the design of a state-dependent switching law. Second, a state-dependent switching law and state feedback controllers are designed to render the resulting closed-loop system robust passive. Finally, a recursive feedback passification design technique is developed to achieve the global stabilisation problem when the subsystems have any uniform vector relative degree. A numerical example is presented to illustrate the effectiveness of the proposed approach.
- Author(s): Yonggang Zhang ; Yulong Huang ; Ning Li ; Lin Zhao
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1731 –1739
- DOI: 10.1049/iet-cta.2014.0873
- Type: Article
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In this study, a novel class of interpolatory cubature Kalman filters (ICKFs) with arbitrary degrees of accuracy, including the third-degree ICKF and the fifth-degree ICKF, are proposed based on the interpolatory cubature rule. Existing cubature Kalman filter and unscented Kalman filter can both be deemed as special cases of the proposed ICKFs. Furthermore, the proposed fifth-degree ICKF can achieve higher filtering accuracy than existing fifth-degree methods by properly choosing free parameters, as illustrated in numerical simulation.
- Author(s): Guo-Ping Liu
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1740 –1745
- DOI: 10.1049/iet-cta.2014.1198
- Type: Article
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This study is concerned with the control problem of networked non-linear systems with communication delay and data dropout. A networked non-linear predictive control scheme is proposed to compensate for communication delay and data dropout actively rather than passively. The stability analysis shows that the stability problem of the closed-loop networked non-linear predictive control system is converted to the one of a conventional non-linear control system without network. The simulations illustrate that the proposed scheme can compensate for communication delay and data dropout, and achieve the same control performance of the local closed-loop control system without network.
- Author(s): Hao Liu ; Danjun Li ; Yao Yu ; Yisheng Zhong
- Source: IET Control Theory & Applications, Volume 9, Issue 11, p. 1746 –1754
- DOI: 10.1049/iet-cta.2014.1347
- Type: Article
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In this brief, robust trajectory tracking control problem for quadrotors is investigated to improve the tracking performance of the closed-loop control system subject to parametric uncertainties, non-linearity and coupling, unmodelled dynamics, and external disturbances. The vertical, lateral, longitudinal and yaw motions of the vehicle are required to be controlled along desired trajectories simultaneously. The proposed linear-decentralised controller consists of three parts: an observer to estimate the linear velocities, which cannot be measured directly, a position controller to achieve the trajectory tracking and produce the desired references for the pitch and roll angles, and an attitude controller to stabilise the attitude angles. The robustness properties of the whole uncertain closed-loop control system are proven. Experimental results are given to demonstrate the effectiveness of the proposed closed-loop control system.
Fault detection for multi-rate sensor fusion under multiple uncertainties
Lyapunov–Krasovskii functionals for input-to-state stability of switched non-linear systems with time-varying input delay
Robust passivity, feedback passification and global robust stabilisation for switched non-linear systems with structural uncertainty
Interpolatory cubature Kalman filters
Design and analysis of networked non-linear predictive control systems
Robust trajectory tracking control of uncertain quadrotors without linear velocity measurements
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