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This paper investigates the attractor and stability of delayed Boolean networks (DBNs) with/without state constraints by using the semi-tensor product of matrices. Firstly, the dynamics of DBNs with/without state constraints is converted into an equivalent algebraic form via the semi-tensor product of matrices. Secondly, based on the algebraic form, a new formula is proposed for the calculation of...
The paper addresses the finite time stability analysis of continuous-time LTI systems. Based on its definition, the necessary and sufficient condition can be easily derived. Since verification of the condition is almost impossible because it requires computation at an infinite numbers of time points, a set of more efficient and practical LMI-based conditions for solving the problem is obtained. The...
In the process of alongside replenishment, the tracking control is investigated for supply ship with the influence of highline cable tension and environmental disturbances, and a backstepping method is proposed. The tension change of highline cable is caused by motion trajectory of cargo, cable deflection and transverse distance between two ships. Meanwhile, the mathematical analysis model of the...
This paper investigates the coupling of three nonlinear fractional differential equations, which analyzes the dynamic characteristics of the system and uses the modified DTM method to solve the nonlinear fractional differential equation of it. We use the method of ‘0–1 test’ to verify chaotic of the system, compute Lyapunov exponents to verify the regimes of chaotic dynamics, and design a nonlinear...
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating...
This paper develop a new five-dimension chaotic Lorenz system, and it is obtained by adding two nonlinear control and improve the typical three-dimension Lorenz system. This five-dimension system is discussed by Lyapunov exponents, phase diagram and the exponential time domain waveform. The numerical simulations can be show the chaotic, periodic, convergent behavior as the parameter change.
Constant-Power Load (CPL) introduces destabilizing effect to dc-dc converters, which may lead to voltage oscillation or collapse. To mitigate the destabilizing problem brought by CPL, a nonlinear boundary controller is proposed in this paper, which has a nonlinear switching line. The converters' dynamics on the state space plane is analyzed through phase portrait. The proposed controller is verified...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of...
Using a semigroup framework, this paper is concerned with existence, uniqueness and regularity of weak solutions for the stochastic wave equation driven by additive noise.
In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of “differential explosion” in the backstepping control of the underactuated unmanned underwater vehicle (UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller,...
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems...
This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function...
This paper presents a robust control scheme for the tracking control of singularly perturbed uncertain systems. The design problem is divided into two parts: tracking the reference trajectory and enhancing the robustness of the dynamic systems. By using the time-scale techniques, dynamic inversion approach and linear parameter-varying methods, a set of singularly perturbed state feedback controllers...
The PID control technique which is improved by linear extended state observer (LESO) is applied to the design of the flight control system for parafoils with Global Position System(GPS). Firstly, in this paper, the nonlinear dynamics model of the parafoil system is outlined. Then, method of guidance and the theory of LESO is presented in detail. Next, the control system using improved PID control...
This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique,...
In the paper, a novel method for identification of distributed parameter system (DPS) with recurrent trajectory via deterministic learning is proposed. The system dynamics rather than the system parameters or system structure is identified, which is completely different from the existing literature. The DPS, which is often described by partial differential equation (PDE), is first transformed into...
In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method...
In this paper, we are concerned with the performance output reference signal tracking for a heat equation with matched boundary disturbance. Firstly, we construct a state reference trajectory system based on the reference signal, and prove this observer system is bounded. Secondly, we design a performance output tracking controller, which can make the performance output is tracking the reference signal...
This paper is concerned with an optimal control problem of anticipated forward-backward stochastic differential equation with delay. We obtain an explicit representation of optimal control for delayed problem first, and then use it to solve a delayed cash management problem with recursive utility. The explicit optimal control strategy of the investor is given and some numerical simulations are used...
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