• 제목/요약/키워드: Lyapunov Method

검색결과 697건 처리시간 0.041초

정합조건이 만족되지 않는 불확실한 다변수 계통에 대한 슬라이딩 모드 제어기의 설계 (Design of sliding mode controller for uncertain multivariable systems in the absence of matching conditions)

  • 천희영;박귀태;김동식;임성준;공진수
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.439-445
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    • 1990
  • All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. We empoly Lyapunov's second method to derive robust stabilizing controllers which guarantee asymptotic stability against prescribed uncertainties. The derivation consists of transforming the original uncertain system to controllable canonical form and constructing a constant switching surface by designing the closed-loop characteristics as a function of the uncertainties. Numerical examples are discussed as illustrations.

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A Robust Adaptive Controller for Markovian Jump Uncertain Nonlinear Systems with Wiener Noises of Unknown Covariance

  • Zhu, Jin;Xi, Hong-Sheng;Ji, Hai-Bo;Wang, Bing
    • International Journal of Control, Automation, and Systems
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    • 제5권2호
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    • pp.128-137
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    • 2007
  • A robust adaptive controller design for a class of Markovian jump parametric -strict-feedback systems is given. The disturbances considered herein include both uncertain nonlinearities and Wiener noises of unknown covariance. And they satisfy some bound-conditions. By using stochastic Lyapunov method in Markovian jump systems, a switching robust adaptive controller was obtained that guarantees global uniform ultimate boundedness of the closed-loop jump system.

간편 간접추론 퍼지논리 경계층을 갖는 슬라이딩 모드 제어기의 설계 (Design of Sliding Mode Controller with a SIIM Fuzzy Logic Boundary Layer)

  • 채창현
    • 전자공학회논문지SC
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    • 제41권2호
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    • pp.45-52
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    • 2004
  • 본 논문에서는 슬라이딩 라인 함수의 각 요소를 간편 간접추론 퍼지 논리의 입력변수로 사용하여 슬라이딩 모드 제어기의 경계층을 모사하는 간편 간접추론 퍼지논리 경계층을 갖는 슬라이딩 모드 제어기를 설계하였다. 제안된 제어시스템은 별도의 비선형 함수를 구할 필요가 없으며, 네 개의 퍼지규칙으로 이루어지므로 간단하고 안정도 증명이 쉬운 장점을 가진다. 본 논문의 유효성을 비선형 시변 시스템에 적용하여 고찰하였다.

임의의 네트워크 지연을 갖는 선형 다개체시스템의 일치 (Consensus of Linear Multi-Agent Systems with an Arbitrary Network Delay)

  • 이성렬
    • 전기전자학회논문지
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    • 제18권4호
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    • pp.517-522
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    • 2014
  • 본 논문은 임의의 네트워크 시간 지연이 존재하는 선형 다개체 시스템의 일치문제를 다룬다. 다개체 시스템의 상태일치를 위한 충분조건은 선형행렬방정식을 이용하여 제공된다. 또한, 제안한 충분조건아래에서 임의의 크기를 갖는 네트워크 지연이 존재하는 경우에도 일치에 도달할 수 있음을 증명한다. 마지막으로 제안한 결과의 유효성을 증명하기 위하여 수치 예제를 제공한다.

순궤환 비선형계통의 백스테핑 없는 적응 신경망 제어기 (Adaptive Neural Control for Strict-feedback Nonlinear Systems without Backstepping)

  • 박장현;김성환;박영환
    • 전기학회논문지
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    • 제57권5호
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    • pp.852-857
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    • 2008
  • A new adaptive neuro-control algorithm for a SISO strict-feedback nonlinear system is proposed. All the previous adaptive neural control algorithms for strict-feedback nonlinear systems are based on the backstepping scheme, which makes the control law and stability analysis very complicated. The main contribution of the proposed method is that it demonstrates that the state-feedback control of the strict-feedback system can be viewed as the output-feedback control problem of the system in the normal form. As a result, the proposed control algorithm is considerably simpler than the previous ones based on backstepping. Depending heavily on the universal approximation property of the neural network (NN), only one NN is employed to approximate the lumped uncertain system nonlinearity. The Lyapunov stability of the NN weights and filtered tracking error is guaranteed in the semi-global sense.

오버헤드 크레인 시스템의 비특이성 터미널 슬라이딩 모드 제어 (Nonsingular Terminal Sliding Mode Control of Overhead Crane System)

  • 이신호;최윤호;박진배
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2008년도 제39회 하계학술대회
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    • pp.1683-1684
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    • 2008
  • In this paper, a hierarchical nonsingular terminal sliding mode controller (TSMC) for overhead crane system using nonsingular terminal sliding surface (NTSS) is proposed, which can drive the error to zero in a finite time. Here, singular problem of controller is solved by NTSS. In addition, the controller has the double layer structure because the system is divided into two hierarchical subsystems. In the first layer, the nonsingular terminal sliding surfaces are hierarchically designed for each subsystem, and in the second layer, the whole sliding surface is designed as the linear combination of nonsingular terminal sliding surfaces. The asymptotic stability of the system is verified by Lyapunov analysis. Finally, we carry out simulations on the overhead crane system to illustrate the effectiveness of the proposed control method.

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전기자동차용 스위치드 릴럭턴스 전동기의 강인 적응형 회생제동제어 (Robust Adaptive Regenerative Braking control of Switched Reluctance Machine for electric vehicles)

  • ;;;이동희;안진우
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2015년도 제46회 하계학술대회
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    • pp.649-651
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    • 2015
  • This paper describes a robust adaptive sliding mode control (RASMC) for torque ripple minimization of switched reluctance motor (SRM) using it in automotive application. The objective is to control effort smoothness while the system is under perturbations by unstructured uncertainties, unknown parameters and external disturbances. The control algorithm employs an adaptive approach to remove the need for prior knowledge within the bound of perturbations. This is suitable for tackling the chattering problem in the sliding motion of sliding mode control method. The algorithm then incorporates modifications in order to build a chattering-free modified robust adaptive sliding mode control using Lyapunov stability theory.

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LMI based criterion for reinforced concrete frame structures

  • Chen, Tim;Kau, Dar;Tai, Y.;Chen, C.Y.J.
    • Advances in concrete construction
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    • 제9권4호
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    • pp.407-412
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    • 2020
  • Due to the influence of nonlinearity and time-variation, it is difficult to establish an accurate model of concrete frame structures that adopt active controllers. Fuzzy theory is a relatively appropriate method but susceptible to human subjective experience to decrease the performance. To guarantee the stability of multi-time delays complex system with multi-interconnections, a delay-dependent criterion of evolved design is proposed in this paper. Based on this criterion, the sector nonlinearity which converts the nonlinear model to multiple rule base of the linear model and a new sufficient condition to guarantee the asymptotic stability via Lyapunov function is implemented in terms of linear matrix inequalities (LMI). A numerical simulation for a three-layer reinforced concrete frame structure subjected to earthquakes is demonstrated that the proposed criterion is feasible for practical applications.

DYNAMIC BEHAVIOUR FOR A NONAUTONOMOUS SMOKING DYNAMICAL MODEL WITH DISTRIBUTED TIME DELAY

  • Samanta, G.P.
    • Journal of applied mathematics & informatics
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    • 제29권3_4호
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    • pp.721-741
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    • 2011
  • In this paper we have considered a dynamical mathematical model of the sub-populations of potential smokers (non-smokers), smokers, smokers who temporarily quit smoking, smokers who permanently quit smoking and a class of smoking associated illness by introducing time dependent parameters and distributed time delay to acquire smoking habit. Here, we have established some sufficient conditions on the permanence and extinction of the smoking class in the community by using inequality analytical technique. We have introduced some new threshold values $R_0$ and $R^*$ and further obtained that the smoking class in the community will be permanent when $R_0$ > 1 and the smoking class in the community will be going to extinct when $R^*$ < 1. By Lyapunov functional method, we have also obtained some sufficient conditions for global asymptotic stability of this model. Computer simulations are carried out to explain the analytical findings. The aim of the analysis of this model is to identify the parameters of interest for further study, with a view to informing and assisting policy-maker in targeting prevention and treatment resources for maximum effectiveness.

EXISTENCE AND GLOBALLY EXPONENTIAL STABILITY OF PERIODIC SOLUTION OF IMPULSIVE FUZZY BAM NEURAL NETWORKS WITH DISTRIBUTED DELAYS AND VARIABLE COEFFICIENTS

  • Zhang, Qianhong;Yang, Lihui;Liao, Daixi
    • Journal of applied mathematics & informatics
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    • 제30권5_6호
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    • pp.1031-1049
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    • 2012
  • In this paper, a class of impulsive fuzzy bi-directional associative memory (BAM) neural networks with distributed delays and variable coefficients are considered. Using Lyapunov functional method and fixed point theorem, we derived some sufficient conditions for the existence and globally exponential stability of unique periodic solution of the networks. The results obtained are new and extend the previous known results. In addition, an example is given to show the effectiveness of our results obtained.