Output regulation problem of a class of pure-feedback nonlinear systems via adaptive neural control     

Fujin Jia  Junwei Lu  Yongmin Li 《Journal of The Franklin Institute》2021,358(11):5659-5675

In the paper, a control algorithm for output regulation problem of nonlinear pure-feedback systems with unknown functions is proposed. The main contributions of the proposed method are not only to avoid Assumptions of unknown functions, but also adopt a non-backstepping control scheme. First, a high-gain state observer with disturbance signals is designed based on the new system that has been converted. Second, an internal model with the observer state is established. Finally, based on Lyapunov analysis and the neural network approximation theory, the control algorithm is proposed to ensure that all the signals of the closed-loop system are the semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin. Three simulation studies are worked out to show the effectiveness of the proposed approach.  相似文献   

Adaptive leaderless consensus control of a class of strict feedback nonlinear systems with guaranteed transient performance under actuator faults     

Wengang Ao  Jiangshuai Huang  Baoyu Wen  Fangzheng Xue 《Journal of The Franklin Institute》2021,358(11):5707-5721

The problem of adaptive leaderless consensus control of a class of uncertain strict feedback nonlinear systems with guaranteed transient performance is investigated in this paper. The system model is a class of strict feedback nonlinear systems with parametric uncertainty, actuator fault and external disturbance. How to guarantee the transient performance of consensus error is involved. To solve this problem, the consensus is transmitted into stabilization of a new variable. Ultimately the consensus errors will asymptotically converge to zero and faster than a given exponentially converging variable. Finally, simulation results show the effectiveness of proposed control scheme.  相似文献   

Adaptive output feedback fault tolerant control for uncertain nonlinear systems based on actuator switching     

Chen Sun  Yan Lin 《Journal of The Franklin Institute》2021,358(11):5722-5749

In this paper, an adaptive output feedback fault tolerant control (FTC) based on actuator switching is proposed for a class of single-input single-output (SISO) nonlinear systems with uncertain parameters and possible actuator failures, for which a set of healthy actuators are available as backups. While high-gain K-filters are utilized to estimate the unmeasured states, an adaptive control law is designed to compensate for the parameter uncertainties and certain actuator failures, an actuator switching strategy based on a set of appropriately designed monitoring functions (MFs) is proposed to tackle those serious actuator failures, make tracking error satisfy prescribed transient and steady-state performance and guarantee closed-loop signal boundedness.  相似文献   

M-estimation based sparse grid quadrature filter and stochastic stability analysis     

《Journal of The Franklin Institute》2021,358(15):7916-7937

In this study, a novel M-estimation based sparse grid quadrature filter (MSGQF) is proposed to improve the robust performance of the nonlinear system. We present a systematic formulation of the sparse grid quadrature filter (SGQF), and extend it to the discrete-time nonlinear system with abnormal measurement values. The M-estimation method is introduced in the SGQF, which uses the Huber’s cost function to update the measurement covariance. Convergence on the modified robust SGQF is established and proved. The sufficient conditions are shown to ensure stochastic stability of the MSGQF. A target tracking problem has been conducted to demonstrate the accuracy of the MSGQF. When measurement abnormal values appear, it outperforms the unscented Kalman filter (UKF), the cubature Kalman filter (CKF) and the SGQF. Theoretical analysis and simulation results prove that the MSGQF provides significant performance improvement in the robustness of the nonlinear system.  相似文献   

The composite-disturbance-observer based stochastic model predictive control for spacecrafts under multi-source disturbances     

《Journal of The Franklin Institute》2021,358(15):7603-7627

In this paper, the attitude control problem of the spacecraft system under input/state constraints and multi-source disturbances is investigated. A novel estimation method, composite-disturbance-observer (CDO), is proposed to provide an estimate for both modeled and unmodeled disturbances in an online manner. Based on the estimates provided by the CDO, the composite stochastic model predictive control (C-SMPC) scheme is designed for attitude control. The recursive feasibility of the C-SMPC method is guaranteed by reformulating the state and input constraints. Furthermore, the sufficient conditions are established to guarantee the stability of the overall closed-loop system. Finally, the simulation on the attitude control of the spacecraft is conducted to verify the effectiveness of the proposed method.  相似文献   

Adaptive synchronization of complex dynamic networks with switching parameters subject to state constraints in power system     

《Journal of The Franklin Institute》2021,358(17):9243-9262

This paper deals with the synchronization control of power complex networks with switching parameters. In the meantime, the node state constraints are considered during the synchronization process. Admittedly, synchronization problem encountered in power complex networks is becoming progressively important due to the increasing connection and disconnection operations resulting from sustainable energy and controllable load. Hereon, the network model considering switching parameters of each node is established to describe the topology variation of power systems that may be confronted in practical terms. Then, by utilizing the adaptive backstepping technique with a barrier Lyapunov function (BLF), a novel synchronization controller is constructed recursively which accomplishes the nodes full states tracking within the predefined transient behavior. Owing to the characteristic of BLF, the designed controller as well as its adaptive law could guarantee both the constrained state of each node restricted by a prescribed range and the synchronization performance. Meanwhile, the bounded output of the system could track the desired trajectory. Finally, scenario simulations are performed to demonstrate the effectiveness and superiority of the proposed method.  相似文献   

主体间性视角下体育课程实施多元主体融合     

胡庆山  郝秀艳 《北京体育大学学报》2011,34(2):87-91

主要采用文献资料、逻辑分析等研究方法,对主体间性视角下体育课程实施多元主体的融合问题进行了分析。研究认为:体育课程实施多元主体的构成具有必要性,体育课程的成功实施需要发挥体育课程实施多元主体的合力,主体间性为体育课程实施多元主体的融合提供了一个理论视角和机制,要真正融合体育课程实施中的多元现实主体,还须结合我国的教育国情和体育课程实施的现状及现存环境来思构整合路径,使体育课程实施多元主体在理论与现实的契合之间实现融合,以更好地发挥体育课程实施主体的合力来促进体育课程实施目的的实现。  相似文献   

浅谈日语中的省略表达     

董海礁 《吉林省教育学院学报》2011,(8)

本文拟从语法和文化两方面探索日语省略表达的教学方法,以期对日语学习者的语言应用能力的提高能有所帮助。  相似文献   

哈尔滨市经营性健身俱乐部经营管理机制实施现状与对策研究     

李小兰  刘钰  王志鹏  张正则  庞博韬 《体育科技文献通报》2011,19(9):12-13

采用文献资料、实地调研与访谈等研究方法,对哈尔滨市健身俱乐部的微观经营管理机制的实施情况进行了调研与分析,发现了存在的问题,提出了对策建议,以为哈尔滨市健身俱乐部的可持续发展提供依据。俱乐部经营管理机制的实施在管理制度层面主要包括建立健全教学服务管理和人事管理等制度;在经营策略层面主要包括加强营销管理和品牌管理等经营方式。  相似文献   

论我国国有企业职工体育管理模式     

徐长红  董欣  吕赟  刘坚  王听 《搏击·武术科学》2011,(2):5-6,9,1

文章运用文献资料法、逻辑分析法,在实地调查的基础上对我国国有企业职工体育管理模式进行探讨,期望探索出一条适合现阶段和未来我国国有企业职工体育发展的管理模式。  相似文献