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1.
This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law. 相似文献
3.
随着海洋资源勘探和海洋污染物监控工作的开展,水文数据的监测和采集等已经成为重要的研究方向。其中,水下无线传感器网络在水文数据采集过程中起着举足轻重的作用。本文研究的是水下无线传感器二维监测网络模型中,传感器节点数据采集的问题,其设计方法是通过自组织映射(Self-organizing mapping,SOM)对传感器节点进行路径最优化处理,结合优化的路径图形和K-means算法找到路径内部聚合点,利用聚合点和传感器的节点得到传感器通信半径内的数据采集点,最后通过SOM得到水下机器人(Autonomous underwater vehicle,AUV)到各个数据采集点采集数据的最优路径。经过实验验证,在水下1 200 m × 1 750 ![]()
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m范围内布置52个传感器节点的情景下,数据采集点相比于传感器节点路径规划采用相同的采集顺序得到的路径优化了6.7%;对数据采集点重新进行自组织路径规划得到的路径比传感器结点路径的最优解提高了12.2%。增加传感器节点的数量,其结果也大致相同,因此采用该方法可以提高水下机器人采集数据的效率。 相似文献
4.
《岩石力学与岩土工程学报(英文版)》2022,14(5):1421-1432
Prediction of mode I fracture toughness (KIC) of rock is of significant importance in rock engineering analyses. In this study, linear multiple regression (LMR) and gene expression programming (GEP) methods were used to provide a reliable relationship to determine mode I fracture toughness of rock. The presented model was developed based on 60 datasets taken from the previous literature. To predict fracture parameters, three mechanical parameters of rock mass including uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), and elastic modulus (E) have been selected as the input parameters. A cluster of data was collected and divided into two random groups of training and testing datasets. Then, different statistical linear and artificial intelligence based nonlinear analyses were conducted on the training data to provide a reliable prediction model of KIC. These two predictive methods were then evaluated based on the testing data. To evaluate the efficiency of the proposed models for predicting the mode I fracture toughness of rock, various statistical indices including coefficient of determination (R2), root mean square error (RMSE), and mean absolute error (MAE) were utilized herein. In the case of testing datasets, the values of R2, RMSE, and MAE for the GEP model were 0.87, 0.188, and 0.156, respectively, while they were 0.74, 0.473, and 0.223, respectively, for the LMR model. The results indicated that the selected GEP model delivered superior performance with a higher R2 value and lower errors. 相似文献
5.
Mahmoud Elsisi 《国际智能系统杂志》2020,35(11):1857-1878
The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters. 相似文献
6.
7.
We present a framework for the formulation of MIP scheduling models based on multiple and nonuniform discrete time grids. In a previous work we showed that it is possible to use different (possibly non-uniform) time grids for each task, unit, and material. Here, we generalize these ideas to account for general resources, and a range of processing characteristics such as limited intermediate storage and changeovers. Each resource has its own grid based on resource consumption and availability allowing resource constraints to be modeled more accurately without increasing the number of binary variables. We develop algorithms to define the unit-, task-, material-, and resource-specific grids directly from problem data. Importantly, we prove that the multi-grid formulation is able to find a schedule with the same optimal objective as the discrete-time single-grid model with an arbitrarily fine grid. The proposed framework leads to the formulation of models with reduced number of binary variables and constraints, which are able to find good solutions faster than existing models. 相似文献
8.
ABSTRACTThis paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy. 相似文献
9.
某出口型号交流电力机车牵引控制系统要求变流器控制逻辑具备接触器控制、牵引系统数据交互、变流器故障保护、变流器启动自检等功能。针对以上功能,基于MATLAB中的Simulink/Stateflow可视化编程工具进行牵引控制模型的搭建,遵循模块化编程理念,采用较少的程序代码编写实现复杂的逻辑控制模型,生成逻辑清晰的控制功能流程图,进行半实物仿真测试,增强控制模型的可靠性。通过该变流器产品型式试验检验,验证变流器控制逻辑的功能可以满足控制系统的需求。 相似文献
10.
In this paper, novel computing approach using three different models of feed-forward artificial neural networks (ANNs) are presented for the solution of initial value problem (IVP) based on first Painlevé equation. These mathematical models of ANNs are developed in an unsupervised manner with capability to satisfy the initial conditions exactly using log-sigmoid, radial basis and tan-sigmoid transfer functions in hidden layers to approximate the solution of the problem. The training of design parameters in each model is performed with sequential quadratic programming technique. The accuracy, convergence and effectiveness of the proposed schemes are evaluated on the basis of the results of statistical analyses through sufficient large number of independent runs with different number of neurons in each model as well. The comparisons of these results of proposed schemes with standard numerical and analytical solutions validate the correctness of the design models. 相似文献