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RISS 인기검색어
- 검색키워드
- 저자 : Xuhui Bu (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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Stability of First and High Order Iterative Learning Control with Data Dropouts
Xuhui Bu,Zhongsheng Hou,Fashan Yu 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.5
This paper presents a stability analysis of the iterative learning control (ILC) problem for discrete-time systems when the plants are subject to output measurement data dropouts. It is assumed that data dropout occurs during the data transfers from the plant to the ILC controller, resulting in what is called intermittent ILC. Using the super-vector approach for ILC, the expectation of output error is used to develop conditions for stability of the first order ILC and high order ILC processes. Through the theoretical analysis, it is shown that the convergence of the intermittent ILC is guaranteed although some measurements are missing. The analysis is also supported by numerical examples.
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Quantized H∞ Control for a Class of 2-D Systems with Missing Measurements
Xuhui Bu,Jiaqi Liang,Zhongsheng Hou,Junqi Yang 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
In this paper, the problem of quantized H¥ control is investigated for a class of 2-D systems described byRoesser model with missing measurements. The measurement missing of system state is described by a sequenceof random variables obeying the Bernoulli distribution. Meanwhile, the state measurements are quantized by logarithmicquantizer before being communicated. By introducing a new 2-D Lyapunov-like function, a sufficientcondition is derived to guarantee stochastically stable and H¥ performance of the closed-loop 2-D system, wherethe method of sector-bounded uncertainties is utilized to deal with quantization error. Based on the condition, thequantized H¥ control can be designed by using linear matrix inequality technique. A simulation example is alsogiven to illustrate the proposed method.
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Robust Guaranteed Cost Control for a Class of Nonlinear 2-D Systems with Input Saturation
Xuhui Bu,Jiaqi Liang,Sen Wang,Wei Yu 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.2
In this paper, a robust guaranteed cost controller is designed for a class of two-dimensional(2-D) discrete time systems described by Roesser model, where the system simultaneously contains input saturation, parametric uncertainty and sector nonlinearity. Firstly, a convex hull representation is used to describe saturated input of the system. Secondly, a sufficient condition for ensuring the asymptotic stability of the closed-loop system and the existence of the robust guaranteed cost controller is given according to the Lyapunov stability theory. Then, this sufficient condition is transformed into a linear matrix inequality form by using Schur complement lemma and the design of robust guaranteed cost controller is realized by the solution of LMI. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
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Junqi Yang,Ying Qiao,Xuhui Bu,Zhiguo Hu 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.8
This paper focuses on the stabilization of a class of uncertain switched linear systems with admissible edge-dependent (AED) switching signals, where disturbances exist in not only the state equation but also output equation. The performance of switchings from the current system mode to the other is shown by the concept of admissible transition edge-dependent weights (ATEWs). A special output transformation is adopted to construct a new system with the same states as the original system but different output, where the disturbance in measurement equation is decoupled. Then, a multiple-mode unknown input observer (UIO) with AED switching is proposed to simultaneously estimate the state and disturbance. Next, an observer-based controller is developed to stabilize the uncertain switched system, then the conditions ensuring the stability of the closed-loop system are provided. Finally, the validity of the proposed method is shown by an example.
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Junqi Yang,Fanglai Zhu,Xin Wang,Xuhui Bu 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5
This paper deals with the issues of sensor fault estimation, actuator fault detection and isolation for a class of uncertain nonlinear systems. By taking the sensor fault vector as a part of an extended state vector, the original system with sensor faults, actuator faults and unknown inputs is transformed into an augmented singular system which is just with actuator faults and unknown inputs. For the constructed singular system, a robust sliding-mode observer is developed to simultaneously estimate the states and sensor faults of original system, and the observer gain matrices are computed in terms of linear matrix inequalities by solving an optimization problem. Then an actuator fault detector is designed to detect actuator faults when ones occur, and multiple observers used as actuator fault isolators are proposed to identify which actuator is with fault. Finally, a simulation example is given to illustrate the effectiveness of the proposed methods.
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Adaptive Fuzzy Finite Time Prescribed Performance Control for Long Stroke Hybrid Robots
Qunpo Liu,Ming Ye,Zhonghua Wu,Xuhui Bu,Naohiko Hanajima 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
This paper focuses on the problem of finite-time trajectory tracking control of long-stroke hybrid robots with uncertain system parameters and external disturbances. A system filtering prescribed performance backstepping control based on adaptive fuzzy compensation is proposed. For the unknown terms corresponding to the parameter uncertainties and unknown disturbances existing in the system, a set of auxiliary filter variables is introduced in the adaptive fuzzy approximator and an estimation error function is constructed. An adaptive law based on the estimated error function is proposed to adjust the adaptive weight parameters of the fuzzy system. An adaptive fuzzy approximation algorithm based on the estimation error is finally constructed to compensate for the performance loss caused by the unknown term. For the system state convergence speed problem, a performance function that can transform the system tracking error into an unconstrained error is presented, and the unconstrained error is used as the backstepping control variables. To avoid the differential explosion problem, a new set of inverse control variables is defined by combining the filter variables obtained based on the low-pass filter and the joint velocity. Based on the above variables, a system filtering-based prescribed performance backstepping control strategy is proposed. Finally, the semi-global practical finite-time stability of the closed-loop system is proved by the Lyapunov function. Experiments on the MATLAB platform verify the effectiveness of the proposed method.
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