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电动方向盘插秧机转向控制系统设计 预览
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作者 何杰 朱金光 +3 位作者 罗锡文 张智刚 胡炼 高阳 《农业工程学报》 EI CAS CSCD 北大核心 2019年第6期10-17,共8页
电动方向盘作为农机导航系统的转向执行机构在中小型旱地拖拉机上已有应用,但在水田农业机械等转向阻力大的农机上的适应性尚有待研究。该文以井关PZ-60型水稻插秧机为平台,采用电动方向盘作为转向执行机构,对插秧机自动转向控制进行了... 电动方向盘作为农机导航系统的转向执行机构在中小型旱地拖拉机上已有应用,但在水田农业机械等转向阻力大的农机上的适应性尚有待研究。该文以井关PZ-60型水稻插秧机为平台,采用电动方向盘作为转向执行机构,对插秧机自动转向控制进行了研究。构建了插秧机转向机构的系统模型,采用系统辨识试验获得了系统模型参数。设计了基于PID的嵌套转向控制算法,采用Simulink仿真模型验证了算法的可行性。分别进行了幅值10°的正弦波、水田小角度转向(直线行驶跟踪)和水田大角度转向(调头)控制性能试验,试验结果表明:插秧机正弦波转向跟踪平均绝对误差为0.301 5°,平均延时0.3 s;在泥底层平坦和不平坦的水田中直线行驶时的转向角跟踪平均绝对误差分别为0.354°和0.663°,平均延迟时间均为0.6 s,角度跟踪偏差最大分别为1.4°和3.6°,深泥脚转向阻力大时有1.4 s的控制滞后;插秧机以28°转向角调头时调节时间为2.5 s,稳态误差为0.6%。研究表明,电动方向盘转向系统具有较好的动态响应和控制稳定性,适用于插秧机作业的自动转向控制,满足插秧机自动导航作业要求。 展开更多
关键词 农业机械 导航 控制 电动方向盘 水稻插秧机 转向控制 嵌套算法 系统辨识
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Aluminum,titanium and oxygen control during electroslag remelting of stainless steel based on thermodynamic analysis
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作者 Dong Hou Zhou-hua Jiang +3 位作者 Tian-peng Qu De-yong Wang Fu-bin Liu Hua-bing Li 《钢铁研究学报:英文版》 SCIE EI CAS CSCD 2019年第1期20-31,共12页
Experimental investigation and thermodynamic calculation were carried out to study the effect of slag on alloying elements during electroslag remelting with developing a thermodynamic model to control titanium and alu... Experimental investigation and thermodynamic calculation were carried out to study the effect of slag on alloying elements during electroslag remelting with developing a thermodynamic model to control titanium and aluminum in in got.The thermodynamic model based on ion and molecule coexistence theory and conservation law of element atoms was established to analyze the change in aluminum and titanium along the height of ingot.The results show that low CaO slag is suitable for electroslag remelting of metal containing high titanium-to-aluminum ratio.As electroslag remelting process consists of slag temperature-rising and temperature-stable periods,TiO2 should be added into water-cooled copper mold during temperature-rising period in order to keep the thermodynamic equilibrium between titanium and aluminum,and the amount of TiO2 is the difference value calculated by the reaction between titanium and alumina at 1477 and 1677℃. 展开更多
关键词 ELECTROSLAG REMELTING TITANIUM CONTROL ALUMINUM CONTROL Oxygen CONTROL Stainless steel Thermodynamic analysis Ion and molecule COEXISTENCE theory
Steam Pressure Control of 1000 MW Ultra-Supercritical Coal-Fired Power Unit Based on Multi-Model Predictive Control
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作者 王国良 丁宝苍 阎威武 《上海交通大学学报:英文版》 EI 2019年第1期86-93,共8页
Ultra-supercritical(USC) coal-fired unit is more and more popular in these years for its advantages.But the control of USC unit is a difficult issue for its characteristic of nonlinearity, large dead time and coupling... Ultra-supercritical(USC) coal-fired unit is more and more popular in these years for its advantages.But the control of USC unit is a difficult issue for its characteristic of nonlinearity, large dead time and coupling among inputs and outputs. In this paper, model predictive control(MPC) method based on multi-model and double layered optimization is introduced for coordinated control of USC unit running in sliding pressure mode and fixed pressure mode. Three inputs(i.e. valve opening, coal flow and feedwater flow) are employed to control three outputs(i.e. output power, main steam temperature and main steam pressure). The step responses for the dynamic matrix control(DMC) are constructed using the three inputs by the three outputs under both pressure control mode. Piecewise models are built at selected operation points. In simulation, the output power follows load demand quickly and main steam temperature can be controlled around the setpoint closely in load tracking control. The simulation results show the effectiveness of the proposed methods. 展开更多
关键词 ULTRA-SUPERCRITICAL COORDINATED CONTROL MULTI-MODEL model PREDICTIVE CONTROL steam pressure CONTROL
A Survey of Model Predictive Control Methods for Traffic Signal Control 预览
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作者 Bao-Lin Ye Weimin Wu +4 位作者 Keyu Ruan Lingxi Li Tehuan Chen Huimin Gao Yaobin Chen 《自动化学报:英文版》 CSCD 2019年第3期623-640,共18页
Enhancing traffic efficiency and alleviating (even circumventing) traffic congestion with advanced traffic signal control (TSC) strategies are always the main issues to be addressed in urban transportation systems. Si... Enhancing traffic efficiency and alleviating (even circumventing) traffic congestion with advanced traffic signal control (TSC) strategies are always the main issues to be addressed in urban transportation systems. Since model predictive control (MPC) has a lot of advantages in modeling complex dynamic systems, it has been widely studied in traffic signal control over the past 20 years. There is a need for an in-depth understanding of MPC-based TSC methods for traffic networks. Therefore, this paper presents the motivation of using MPC for TSC and how MPC-based TSC approaches are implemented to manage and control the dynamics of traffic flows both in urban road networks and freeway networks. Meanwhile, typical performance evaluation metrics, solution methods, examples of simulations, and applications related to MPC-based TSC approaches are reported. More importantly, this paper summarizes the recent developments and the research trends in coordination and control of traffic networks with MPC-based TSC approaches. Remaining challenges and open issues are discussed towards the end of this paper to discover potential future research directions. 展开更多
关键词 AUTONOMOUS vehicles coordination CONTROL mixed INTEGER PROGRAMMING model PREDICTIVE CONTROL system decomposition TRAFFIC flow models TRAFFIC signal CONTROL
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Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation 预览
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作者 Song Ling Huanqing Wang Peter X.Liu 《自动化学报:英文版》 CSCD 2019年第1期97-107,共11页
In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w... In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the 'explosion of complexity'problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method. 展开更多
关键词 Adaptive fuzzy CONTROL dynamic surface CONTROL (DSC) flexible-joint (FJ) ROBOTS single-link TRACKING CONTROL
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A Reliability Aware Protocol for Cooperative Communication in Cognitive Radio Networks
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作者 Munam Ali Shah Si-Jing Zhang Hong-Ji Yang 《国际自动化与计算杂志:英文版》 EI CSCD 2019年第1期84-92,共9页
One of the challenging tasks in cognitive radio(CR)networks is to agree on a common control channel to exchange control information.This paper presents a novel medium access control(MAC)protocol for CR network which e... One of the challenging tasks in cognitive radio(CR)networks is to agree on a common control channel to exchange control information.This paper presents a novel medium access control(MAC)protocol for CR network which efficiently and intelligently establishes a common control channel between CR nodes.The proposed protocol is the first CR MAC protocol which is hybrid in nature and lies between global common control channel(GCCC)and non-GCCC family of MAC protocols.The dynamic nature of the protocol makes the CR nodes converge on a newly found control channel quicker whenever the interference from a licensed user is sensed.The analytical results show that the dynamic,hybrid and adaptive nature of proposed protocol yields higher throughputs when compared with other CR MAC protocols. 展开更多
关键词 COGNITIVE radio COMMON CONTROL CHANNEL co-operative communication MEDIUM access control(MAC)protocols DTMC
H∞ Consensus Control of Discrete-Time Multi-Agent Systems Under Network Imperfections and External Disturbance 预览
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作者 Arezou Elahi Alireza Alfi Hamidreza Modares 《自动化学报:英文版》 CSCD 2019年第3期667-675,共9页
This paper presents a distributed control protocol for consensus control of multi-agent systems (MASs) under external disturbances and network imperfections, including communication delay and random packet dropout. To... This paper presents a distributed control protocol for consensus control of multi-agent systems (MASs) under external disturbances and network imperfections, including communication delay and random packet dropout. To comply with the discrete nature of networked systems, in contrast to most of the existing work for MASs under network imperfections, the agents are modeled by discrete-time dynamics. The communication network is considered to be undirected, its delay is considered to be time-varying but bounded, and its packet dropout is modeled by a Bernoulli distributed white sequence. Sufficient conditions in terms of linear matrix inequalities (LMIs) for asymptotic mean-square consensus stability are derived under network imperfections without considering external disturbances. A desired disturbance attenuation level in the presence of both external disturbances and network imperfections is also provided. A simulation example is given to verify the effectiveness of the proposed approach in coping with network imperfection and disturbances. 展开更多
关键词 CONSENSUS distributed CONTROL H∞ CONTROL packet DROPOUT stability time delay
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Management and control of type 2 diabetes mellitus in Lebanon: Results from the International Diabetes Management Practices Study Wave 6 预览
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作者 Hala Ahmadieh Marie-Therese Sawaya Sami T Azar 《世界糖尿病杂志:英文版(电子版)》 2019年第4期249-259,共11页
BACKGROUND Diabetes mellitus is a worldwide public health problem associated with significant complications. There is lack of data on the quality of care of patients with diabetes, specifically among the non-Western c... BACKGROUND Diabetes mellitus is a worldwide public health problem associated with significant complications. There is lack of data on the quality of care of patients with diabetes, specifically among the non-Western countries. Efforts have been made in Lebanon to better study the characteristics of patients with diabetes mellitus in order to improve glycemic control and prevent late-term complications. AIM To investigate control and therapeutic management of patients with diabetes mellitus in the current medical practice in Lebanon. METHODS Wave 6 of the International Diabetes Management Practice Study in Lebanon is an international and multicenter study involving selected countries. RESULTS Only 1 patient with type 1 diabetes and 595 patients with type 2 diabetes were included in Wave 6. Average age was around 60 years, with a mean body mass index of 30. The mean fasting serum glucose was 159.42 mg/dL, and the mean glycosylated hemoglobin (HbA1c) level was 7.98 with around 30% achieving an HbA1c target of < 7%. More patients were on oral anti-diabetic medications. Screening of diabetic complications has improved over the years. A large percentage is diagnosed with hypertension and dyslipidemia, the majority of whom were treated but only a small percentage were controlled. CONCLUSION Diabetes, with its associated dyslipidemia and hypertension, is still not very well controlled. Screening for diabetes complications has improved over the years. Patients need to have more proper care, and physicians need to follow diabetes guidelines, and to have a larger number of patients who have appropriate treatment of diabetes, hypertension and lipids. 展开更多
关键词 DIABETES COMPLICATIONS DYSLIPIDEMIA HYPERTENSION Blood pressure CONTROL Glycemic CONTROL
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A two-level hierarchical discrete-device control method for power networks with integrated wind farms 预览
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作者 Fengda XU Qinglai GUO +2 位作者 Hongbin SUN Boming ZHANG Lin JIA 《现代电力系统与清洁能源学报(英文)》 CSCD 2019年第1期88-98,共11页
Power systems depend on discrete devices, such as shunt capacitors/reactors and on-load tap changers, for their long-term reliability.In transmission systems that contain large wind farms, we must take into account th... Power systems depend on discrete devices, such as shunt capacitors/reactors and on-load tap changers, for their long-term reliability.In transmission systems that contain large wind farms, we must take into account the uncertainties in wind power generation when deciding when to operate these devices.In this paper, we describe a method to schedule the operation of these devices over the course of the following day.These schedules are designed to minimize wind-power generation curtailment, bus voltage violations, and dynamic reactive-power deviations,even under the worst possible conditions.Daily voltagecontrol decisions are initiated every 15 min using a dynamic optimization algorithm that predicts the state of the system over the next 4-hour period.For this, forecasts updated in real-time are employed, because they are more precise than forecasts for the day ahead.Day-ahead schedules are calculated using a two-stage robust mixedinteger optimization algorithm.The proposed control strategies were tested on a Chinese power network with wind power sources;the control performance was also validated numerically. 展开更多
关键词 Automatic voltage CONTROL Model PREDICTIVE CONTROL On-load tap CHANGER SHUNT capacitor/reactor TWO-STAGE robust optimization Wind-power integration
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The Combination of Two Control Strategies for Series Hybrid Electric Vehicles 预览
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作者 Can Luo Zhen Shen +2 位作者 Simos Evangelou Gang Xiong Fei-Yue Wang 《自动化学报:英文版》 CSCD 2019年第2期596-608,共13页
With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Pow... With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment. 展开更多
关键词 DC-Link VOLTAGE CONTROL power FOLLOWER CONTROL strategy series hybrid electric VEHICLES tuning
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Leader-Following Consensus of Multi-Agent Systems via Adaptive Event-Based Control
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作者 ZHU Wei WANG Dandan ZHOU Qianghui 《系统科学与复杂性学报:英文版》 SCIE EI CSCD 2019年第3期846-856,共11页
In this paper, the adaptive event-based control approach is applied to study leader-following consensus of multi-agent systems with linear dynamic models. Adaptive event-based controller and triggering function for ea... In this paper, the adaptive event-based control approach is applied to study leader-following consensus of multi-agent systems with linear dynamic models. Adaptive event-based controller and triggering function for each agent are designed, where the adaptive function is only dependent on its own event time instants. A sufficient condition on consensus is proposed, which shows that the adaptive event-based method presented in this paper not only can reduce the communication among neighboring agents, but also can determine the event time instants for each agent without using the global information. Furthermore, the Zeno-behavior for the concerned closed-loop system is excluded. Finally, an example is presented to ilhistratc the effectiveness of the obtained theoretical results. 展开更多
关键词 ADAPTIVE CONTROL EVENT-BASED CONTROL leader-following CONSENSUS Zeno-behavior
Research on semi-active control method of a building structure based on non-smooth control 预览
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作者 Wang Qing Wang Jianhui Ma Kemao 《地震工程与工程振动:英文版》 SCIE EI CSCD 2019年第2期425-432,共8页
This study investigates the effectiveness of the non-smooth semi-active control algorithm on suppressing the vibration performance of a building structure subjected to seismic waves. According to the Lyapunov stabilit... This study investigates the effectiveness of the non-smooth semi-active control algorithm on suppressing the vibration performance of a building structure subjected to seismic waves. According to the Lyapunov stability theory, it has bene proven that the non-smooth semi-active control algorithm can achieve a finite-time stability of the vibration relative to the isolation layer of a building structure. Through numerical simulation of two buildings with different parameters subjected to the input of a seismic wave, the vibration conditions of passive control, LQR semi-active control and non-smooth semiactive control are compared and analyzed. The simulation results show that the non-smooth semi-active control algorithm has a better robustness and effectiveness in restraining the impact of earthquakes on the structure. 展开更多
关键词 building structure ISOLATION layer SEMI-ACTIVE CONTROL NON-SMOOTH CONTROL VIBRATION
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Sliding Mode Fault Tolerant Attitude Control Scheme for Spacecraft with Actuator Faults 预览
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作者 CAO Teng GONG Huajun HAN Bing 《南京航空航天大学学报:英文版》 EI CSCD 2019年第1期119-127,共9页
An active fault tolerant control scheme is investigated for the attitude control systems of spacecraft with external disturbance and actuator faults by using the sliding mode technique. Firstly,the dynamic equations a... An active fault tolerant control scheme is investigated for the attitude control systems of spacecraft with external disturbance and actuator faults by using the sliding mode technique. Firstly,the dynamic equations and kinematic equations of spacecraft are given. For the dynamic mode of spacecraft in faulty case,a fault diagnosis component is used for fault detection and estimation by using a nonlinear observer. According to the fault estimation information obtained during the fault diagnosis,the fault tolerant control scheme is developed by adopting the backstepping sliding mode control technique. Meanwhile,the Lyapunov theory is used to analyze the stability of the closed-loop attitude systems. Finally,simulation results for the attitude dynamics models show the feasibility of the proposed fault tolerant scheme. 展开更多
关键词 FAULT tolerant CONTROL FAULT estimation actuator FAULTS sliding mode CONTROL
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Adaptive and Predictive Control Strategies for Wind Turbine Systems: A Survey 预览
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作者 Magdi S.Mahmoud Mojeed O.Oyedeji 《自动化学报:英文版》 CSCD 2019年第2期364-378,共15页
The wind turbine(WT) is a renewable energy conversion device for transformation of kinetic energy from the wind to mechanical energy for subsequent use in different forms.This paper focuses on wind turbine control des... The wind turbine(WT) is a renewable energy conversion device for transformation of kinetic energy from the wind to mechanical energy for subsequent use in different forms.This paper focuses on wind turbine control design strategies.The content is divided into the following parts: 1) An overview of the recent advances that have been made in the application of adaptive and model predictive control strategies for wind turbines. 2) Summarizes some important aspects of modeling of wind turbines for control studies. 3) Provides an outlook on the application of adaptive model predictive control for uncertain systems to stimulate new research interests for wind turbine systems. We provide an overall picture of the research results with evaluation of the merits/demerits. 展开更多
关键词 ADAPTIVE CONTROL model PREDICTIVE CONTROL WIND turbine(WT)
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Inverse Optimal Control of Evolution Systems and Its Application to Extensible and Shearable Slender Beams 预览
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作者 K.D.Do A.D.Lucey 《自动化学报:英文版》 CSCD 2019年第2期395-409,共15页
An optimal(practical) stabilization problem is formulated in an inverse approach and solved for nonlinear evolution systems in Hilbert spaces. The optimal control design ensures global well-posedness and global practi... An optimal(practical) stabilization problem is formulated in an inverse approach and solved for nonlinear evolution systems in Hilbert spaces. The optimal control design ensures global well-posedness and global practical K∞-exponential stability of the closed-loop system, minimizes a cost functional,which appropriately penalizes both state and control in the sense that it is positive definite(and radially unbounded) in the state and control, without having to solve a Hamilton-Jacobi-Belman equation(HJBE). The Lyapunov functional used in the control design explicitly solves a family of HJBEs. The results are applied to design inverse optimal boundary stabilization control laws for extensible and shearable slender beams governed by fully nonlinear partial differential equations. 展开更多
关键词 BOUNDARY CONTROL evolution system HILBERT space INVERSE optimal CONTROL slender BEAMS
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Distributed Control of Multiple-Bus Microgrid With Paralleled Distributed Generators 预览
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作者 Bo Fan Jiangkai Peng +2 位作者 Jiajun Duan Qinmin Yang Wenxin Liu 《自动化学报:英文版》 CSCD 2019年第3期676-684,共9页
A microgrid is hard to control due to its reduced inertia and increased uncertainties. To overcome the challenges of microgrid control, advanced controllers need to be developed. In this paper, a distributed, two-leve... A microgrid is hard to control due to its reduced inertia and increased uncertainties. To overcome the challenges of microgrid control, advanced controllers need to be developed. In this paper, a distributed, two-level, communication-economic control scheme is presented for multiple-bus microgrids with each bus having multiple distributed generators (DGs) connected in parallel. The control objective of the upper level is to calculate the voltage references for one-bus subsystems. The objectives of the lower control level are to make the subsystems’ bus voltages track the voltage references and to enhance load current sharing accuracy among the local DGs. Firstly, a distributed consensusbased power sharing algorithm is introduced to determine the power generations of the subsystems. Secondly, a discrete-time droop equation is used to adjust subsystem frequencies for voltage reference calculations. Finally, a Lyapunov-based decentralized control algorithm is designed for bus voltage regulation and proportional load current sharing. Extensive simulation studies with microgrid models of different levels of detail are performed to demonstrate the merits of the proposed control scheme. 展开更多
关键词 COORDINATE CONTROL DECENTRALIZED CONTROL multiple-bus MICROGRID paralleled distributed generations power sharing algorithm
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Event-triggered adaptive control for attitude tracking of spacecraft
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作者 Chenliang WANG Yun LI +1 位作者 Qinglei HU Jian HUANG 《中国航空学报:英文版》 SCIE EI CAS CSCD 2019年第2期454-462,共9页
Plug-and-play technology is an important direction for future development of spacecraft and how to design controllers with less communication burden and satisfactory performance is of great importance for plug-and-pla... Plug-and-play technology is an important direction for future development of spacecraft and how to design controllers with less communication burden and satisfactory performance is of great importance for plug-and-play spacecraft. Considering attitude tracking of such spacecraft with unknown inertial parameters and unknown disturbances, an event-triggered adaptive backstepping controller is designed in this paper. Particularly, a switching threshold strategy is employed to design the event-triggering mechanism. By introducing a new linear time-varying model, a smooth function, an integrable auxiliary signal and a bound estimation approach, the impacts of the network-induced error and the disturbances are effectively compensated for and Zeno phenomenon is successfully avoided. It is shown that all signals of the closed-loop system are globally uniformly bounded and both the attitude tracking error and the angular velocity tracking error converge to zero. Compared with conventional control schemes, the proposed scheme significantly reduces the communication burden while providing stable and accurate response for attitude maneuvers. Simulation results are presented to illustrate the effectiveness of the proposed scheme. 展开更多
关键词 Adaptive CONTROL ATTITUDE TRACKING Event-triggered CONTROL SPACECRAFT UNCERTAINTIES
Robust Admissibility and Stabilization of Uncertain Singular Fractional-Order Linear Time-Invariant Systems 预览
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作者 Saliha Marir Mohammed Chadli 《自动化学报:英文版》 CSCD 2019年第3期685-692,共8页
This paper addresses the robust admissibility problem in singular fractional-order continuous time systems. It is based on new admissibility conditions of singular fractional-order systems expressed in a set of strict... This paper addresses the robust admissibility problem in singular fractional-order continuous time systems. It is based on new admissibility conditions of singular fractional-order systems expressed in a set of strict linear matrix inequalities (LMIs). Then, a static output feedback controller is designed for the uncertain closed-loop system to be admissible. Numerical examples are given to illustrate the proposed methods. 展开更多
关键词 CONTROL FRACTIONAL-ORDER SYSTEMS linear matrix inequalities (LMIs) output feedback CONTROL robust ADMISSIBILITY SINGULAR SYSTEMS UNCERTAIN SYSTEMS
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Optimal Matching Control of a Low Energy Charged Particle Beam in Particle Accelerators 预览
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作者 Zhigang Ren Tehuan Chen Zongze Wu 《自动化学报:英文版》 CSCD 2019年第2期460-470,共11页
Particle accelerators are devices used for research in scientific problems such as high energy and nuclear physics.In a particle accelerator, the shape of particle beam envelope is changed dynamically along the forwar... Particle accelerators are devices used for research in scientific problems such as high energy and nuclear physics.In a particle accelerator, the shape of particle beam envelope is changed dynamically along the forward direction. Thus, this reference direction can be considered as an auxiliary 'time' beam axis. In this paper, the optimal beam matching control problem for a low energy transport system in a charged particle accelerator is considered. The beam matching procedure is formulated as a finite 'time' dynamic optimization problem, in which the Kapchinsky-Vladimirsky(K-V) coupled envelope equations model beam dynamics. The aim is to drive any arbitrary initial beam state to a prescribed target state, as well as to track reference trajectory as closely as possible, through the control of the lens focusing strengths in the beam matching channel. We first apply the control parameterization method to optimize lens focusing strengths, and then combine this with the time-scaling transformation technique to further optimize the drift and lens length in the beam matching channel. The exact gradients of the cost function with respect to the decision parameters are computed explicitly through the state sensitivity-based analysis method. Finally, numerical simulations are illustrated to verify the effectiveness of the proposed approach. 展开更多
关键词 Beam matching COMPUTATIONAL optimal CONTROL CONTROL PARAMETERIZATION sensitivity-based analysis time-scaling transformation
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A Real Time Self-Tuning Motion Controller for Mobile Robot Systems 预览
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作者 Mohamed Boukens Abdelkrim Boukabou Mohammed Chadli 《自动化学报:英文版》 CSCD 2019年第1期84-96,共13页
This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm ha... This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method. 展开更多
关键词 Learning and adaptive SYSTEMS motion CONTROL METAHEURISTIC robust CONTROL real-time tuning SELF-TUNING WHEELED mobile robot
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