具有异步时延的网络化控制系统故障检测

针对具有异步信号时延的离散系统，研究了在异步时延下基于观测器的故障检测及其设计问题。首先提出了一个存在异步时延下系统的故障检测模型，该模型保持了系统的定常性和时不主特性。同时在此模型上构造了异步时延系统的状态观测器，并依据系统观测误差通过合理地选择湮灭加权矩阵的方法构建了频域内的故障检测残差发生器。最后通过一个摆式列车试验模型的仿真检验了设计方法的有效性。     

网络控制系统中的时延分析

在控制网络中使用数据网络已经引起了广泛关注。如何处理网络诱导时延对网络控制系统的影响已经成为了网络控制系统的主要挑战。介绍了网络控制系统的概念,分析了网络控制系统的优缺点,探讨了网络诱导时延的组成、特点以及对网络控制系统的影响并给出了仿真结果,最后提出了未来可能的研究方向。     

一类非线性系统的模型参考自适应模糊控制

针对一类不确定非线性系统 ,基于一种修改的监督控制方案并利用广义多线性模糊逻辑系统的逼近能力 ,提出了一种模型参考自适应模糊控制器设计的新方案。该方案利用参考模型作为性能指标 ,自适应调节模糊控制器的规则库 ,并通过引入最优逼近误差的自适应补偿项来消除建模误差的影响 ,不但能保证闭环系统稳定 ,而且可使跟踪误差收敛到零。仿真结果表明了该方法的有效性     

A Novel Networked Predictive Control Method for Systems with Random Communication Constraints

This paper presents a novel observer-based predictive control method for networked systems where random network-induced delays, packet disorders and packet dropouts in both feedback and forward channels are considered. The proposed method has three significant features: i) A concept of destination-based lumped(DBL) delay is introduced to represent the combined effects of random communication constraints in each channel; ii) in view of different natures of the random DBL delays in the feedback and forward channels, different compensation schemes are designed; and iii) it is actual control inputs rather than predicted ones that are employed to generate future control signals based on the latest system state estimate available in the controller. For the resulting closed-loop system, a necessary and sufficient stability condition is derived, which is less conservative and also independent of random communication constraints in both channels. Simulation results are provided to demonstrate the effectiveness of the proposed method.     

网络控制系统中自适应DMC算法的仿真研究

针对网络控制系统(NCS)提出了自适应动态矩阵控制(DMC)算法。其基本思想是使用一个离散的延迟模型来预测对象的未来输出。给出了算法的推导过程和估计网络引入延迟的方法,基于TrueTime工具箱对比了不同网络条件下自适应DMC算法和传统DMC算法的性能。仿真结果表明自适应DMC算法能够适应网络条件的变化,为NCS提供更好的控制品质。     

模型参考自适应内模控制及其仿真研究

本文提出了一种模型参考自适应内模控制方法。采用内模控制器作调节器，模糊逻辑作自适应机构，综合了模糊控制，内模控制和自适应控制的优点。仿真研究结果表明，这一方法是可行的，并能适应对象特性的大范围变化     

时滞分布参数系统的指数渐近稳定性

基于Lyapunov稳定性理论,利用辅助函数方法研究由变时滞分布参数控制系统所导出的滑动模运动方程的指数渐近稳定性问题,获得了一类滑动模运动方程指数渐进稳定的充分条件,建立了滑动模运方程解的指数渐近稳定性定理。这就为研究时滞分布参数系统的变结构控制问题奠定了理论基础。     

一种基于小波网络模型参考自适应控制系统的设计与应用

根据神经网络内模控制的思想,提出了一种基于小波网络的模型参考自适应控制方法。该方法选用两个小波神经网络,分别作为系统模型的辨识器和控制器。此外,为了减小系统误差,在控制器和辨识器之间加入一个小波神经网络,作为非线性自适应滤波器。仿真结果和应用实例表明了该方法的有效性和合理性。     

具有数据包丢失的网络控制系统的估计问题

主要考虑了具有数据包丢失的网络控制系统(NCSs)的估计问题。首先,给出经典的卡尔曼滤波估计器和协方差矩阵。当量测方程带有噪声时,通过递推的方法严格推导出最优估计(条件期望)。另外,根据系统丢包行为能否被观测到的估计问题,分情况进行讨论。最后,在实际应用中开发了一个次优的近似估计器。这对在大的有限域下研究具有数据包丢失的网络控制系统有所帮助,也为进一步分析网络控制系统的问题提供了研究方向。     

Decentralized Control for Similar Composite Systems with Interconnections Satisfying Interconnected Condition

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Fault Detection for Complex Systems with Channel Fadings,Randomly Occurring Multiple Delays and Infinitely Distributed Delays

This paper is concerned with the fault detection(FD) problem for a class of discretetime stochastic systems with channel fadings, randomly occurring multiple communication delays,and infinitely distributed delays. All of the three phenomena have the characteristics of randomly occurring and three sequences of stochastic variables which are mutually independent but obey the Bernoulli distribution are employed to describe them. The aim of this paper is to design an FD filter such that the FD dynamics is exponentially stable in the mean square and, at the same time, the error between the residual signal and the fault signal is made as small as possible. Intensive analysis is utilized to derive the sufficient conditions for the designed FD filter, which guarantees the exponential stability and the prescribed H∞ performance. FD filter parameters are obtained by solving a convex optimization problem. An illustrative example is provided to demonstrate the effectiveness of the FD design scheme.     

Data-Driven Leader-Follower Output Synchronization for Networked Non-Linear Multi-Agent Systems with Switching Topology and Time-Varying Delays

This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs, a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents’ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are considered. The proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.     

模糊多参考模型自适应控制及仿真研究

将模糊理论应用于参考模型的选择，提出一种将模糊选择和自适应控制相结合的模糊多参考模型自适应控制算法。此方法通过模糊规则选取合适的参考模型，能克服传统自适应算法中由于系统参数跳变而带来的控制困难，并且具有较好的鲁棒性能。在无刷直流电机调速系统模型中的仿真表明，此方法控制的无刷直流电机在电机参考转速和负载转矩变化的情况下仍具有良好的动态性能和控制精度。     

两种跟踪低阶模型的模型参考自适应控制方案设计与仿真

采用滤波器降阶和系统分解，并将部分因式看成未建模动态，进而转化成扰动的方法，分别设计了两种高阶系统跟踪低阶参考模型的模型参考自适应控制(MRAC)方案。使用低阶参考模型简化了系统结构。仿真验证了方案的有效性。     

分布式容错实时控制系统的在线升级模型

分布式容错实时控制系统广泛应用于安全关键系统中。为了延长系统的使用寿命,满足用户对系统功能和性能的不断提高的要求,系统升级是必不可少的。提出一种支持分布式实时系统在线升级的结构模型,在保证系统运行时的可靠性和性能的同时,实现系统安全升级。详细分析了该模型的结构及其组成部分的功能,并利用随机Petri网建立在线升级模型的性能和可靠性评价模型。     

一类非线性系统的自适应模型跟随控制

讨论了一类非线性系统的自适应模型跟随控制问题。首先给出了系统的一般描述,然后研究了该系统模型跟随控制的存在条件，最后讨论了如何设计前馈控制和反馈控制矩阵的迭代调节律,使得系统输出能够快速地稳定地跟随参考模型输出。仿真结果表明了这一控制方案具有良好的非线性跟随效果。     

Predictive Event-Triggered Control for Disturbanced Wireless Networked Control Systems

The control and scheduling for wireless networked control system with packet dropout and disturbance are investigated. A prediction based event triggered control is proposed to reduce data transmissions while preserving the robustness against external disturbance. First, a trigger threshold is especially designed to maintain the difference of the estimated and actual states below a proper boundary when system suffers from packet dropout. Then a predictive controller is designed to compensate for packet dropouts by utilizing the packet-based control approach. The sufficient conditions to ensure the closed-loop system being uniformly ultimately bounded are derived, with consequently the controller gain method. Numerical examples illustrate the effectiveness of the proposed approach.     

网络控制系统随机鲁棒控制律设计方法

研究了具有随机网络诱导时延及数据包丢失的网络控制系统的随机鲁棒控制律设计方法.利用有限状态markov链来描述控制网络中固有的随机传输延迟和丢包过程,建立网络系统的多结构markov跳变模型.基于由蒙特卡罗估计和优化算法构成的随机鲁棒设计方法,结合保证系统均方稳定的充要条件,得到网络控制系统的随机鲁棒控制律.最后,某型无人飞行器纵向俯仰通道的网络控制仿真实例验证了该方法的有效性.     

不确定网络化控制系统的保性能鲁棒容错控制

研究了一类含有不确定性的网络化控制系统的完整性和保性能容错控制问题.基于Lyapunov稳定性理论和LMI方法,采用状态反馈控制策略,针对含有不确定性的网络化控制系统当执行器发生失效故障时分别推证出了系统仍渐近稳定和能够满足一定控制指标的充分条件,进而通过将矩阵不等式转化为线性矩阵不等式得到了求取两种容错控制器的方法.最后用仿真算例验证了该方法的有效性和可行性.     

一类多状态时滞不确定系统的鲁棒预测控制

针对一类多状态时滞多面体不确定对象,提出了一种鲁棒预测控制算法。基于参数相关的李亚普诺夫函数,给出了系统稳定的充分条件。通过求解满足若干线性矩阵不等式条件的上界值的最优化问题,获得了约束范围内满足系统鲁棒性能的最优控制律。优化问题的可行性保证了算法的鲁棒稳定性。仿真实例证明了该算法的有效性。