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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

《机械工程前沿（英文）》 2021年第16卷第2期页码 353-362 doi: 10.1007/s11465-020-0620-4

摘要： This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

关键词： sliding-mode control robot control discrete-time uncertain systems fuzzy logic

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二自由度精确解耦离散复矢量永磁同步电机电流控制器 None

Meng WANG, Jia-qiang YANG, Xiang ZHANG, Chang-sheng ZHU

《信息与电子工程前沿（英文）》 2018年第19卷第4期页码 569-581 doi: 10.1631/FITEE.1601390

摘要：电流控制器性能对永磁同步电机驱动的影响至关重要，然而，在数字处理器中采用传统的连续域电流控制器不能使系统达到完全解耦，这使得电流控制器性能会随电机转速而变化。为提高电流控制器性能，提出一种利用精确离散复矢量模型在离散域直接设计电流控制器的方法。首先，针对变流器输出电压和电机反电势的不同特性推导出永磁同步电机的精确离散模型。然后，根据该模型设计出三阶形式精确解耦二自由度电流控制器，该控制器在配置系统闭环极点时自由度更高。针对两种不同的对消零极点位置选取方案，借助复矢量根轨迹和灵敏度函数对其抗干扰性和参数敏感度进行考察，结果表明两种方案各有优势。最后，在2.5 kW永磁同步电机实验台上验证了所提电流控制器设计方法的有效性。

关键词：永磁同步电机；离散电流控制器；复矢量

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基于离散系统滑模控制的有限时间领导—跟随一致性 Research Article

宋睿卓1,2,邢适1,2,许镇3

《信息与电子工程前沿（英文）》 2022年第23卷第7期页码 1057-1068 doi: 10.1631/FITEE.2100565

摘要：研究了离散时间二阶多智能体系统在外部干扰约束下的有限时间领导—跟随一致性问题。首先利用自适应滑模控制理论，设计了一种新的有限时间一致性方案。自适应控制律是在传统滑模趋近律基础上改进设计的，其优点是减少抖振并保持对干扰的不变性。此外，通过给出一个离散李雅普诺夫函数，证明了离散时间二阶多智能体系统的有限时间稳定性。最后，数值模拟结果验证了理论分析的有效性。

关键词：有限时间；领导—跟随一致性；自适应滑模控制；多智能体系统

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A dynamic model of mobile concrete pump boom based on discrete time transfer matrix method

Wu REN, Yunxin WU, Zhaowei ZHANG

《机械工程前沿（英文）》 2013年第8卷第4期页码 360-366 doi: 10.1007/s11465-013-0280-8

摘要：

Mobile concrete pump boom is typical multi-body large-scale motion manipulator. Due to posture constantly change in working process, kinematic rule and dynamic characteristic are difficult to solve. A dynamics model of a mobile concrete pump boom is established based on discrete time transfer matrix method (DTTMM). The boom system is divided into sub-structure A and sub-structure B. Sub-structure A is composed by the 1st boom and hydraulic actuator as well as the support. And sub-structure B is consists of the other three booms and corresponding hydraulic actuators. In the model, the booms and links are regarded as rigid elements and the hydraulic cylinders are equivalent to spring-damper. The booms are driven by the controllable hydraulic actuators. The overall dynamic equation and transfer matrix of the model can be assembled by sub-structures A and B. To get a precise result, step size and integration parameters are studied then. Next the tip displacement is calculated and compared with the result of ADAMS software. The displacement and rotation angle curves of the proposed method fit well with the ADAMS model. Besides it is convenient in modeling and saves time. So it is suitable for mobile concrete pump boom real-time monitoring and dynamic analysis. All of these provide reference to boom optimize and engineering application of such mechanisms.

关键词： multi-body mobile concrete pump boom discrete time transfer matrix method (DTTMM) kinematic dynamic tip displacement

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智能电网中分布式经济调度研究进展：综述 Review Articles

温广辉1,余星火2,刘智伟3

《信息与电子工程前沿（英文）》 2021年第22卷第1期页码 1-140 doi: 10.1631/FITEE.2000205

摘要：设计一种高效的分布式经济调度策略对具有多台发电机的智能电网具有重要意义，将使得新一代电力系统获取多种益处，如易于实施、低维护成本、高能源效率、对各种不确定性的强鲁棒性。因此，该领域吸引了来自电力工程、控制理论、应用数学等不同学科的广泛研究兴趣。本文综述智能电网分布式经济调度的理论研究最新进展，重点关注2015年以来发表的文献。系统回顾该主题的最新研究结果，并将其分为分布式离散时间和分布式连续时间经济调度算法两类。在回顾相关文献的基础上，简要介绍未来研究方向，包括智能电网的分布式安全经济调度、具有实际约束的分布式快速经济调度、高效无初值分布式经济调度、具有智能储能电池和灵活负载的分布式经济调度以及结合人工智能技术的分布式经济调度。

关键词：分布式经济调度；分布式优化；智能电网；连续时间优化算法；离散优化算法

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面向离散多智能体系统一致性问题的自触发鲁棒分布式模型预测控制方法 Research Articles

李佳琦1,王庆领2,苏延旭2,孙长银

《信息与电子工程前沿（英文）》 2021年第22卷第8期页码 1068-1079 doi: 10.1631/FITEE.2000182

摘要：针对一类有界加性扰动下的非线性离散多智能体系统一致性问题，提出一种基于自触发鲁棒分布式模型预测控制的一致性算法。首先构造了一个新的代价函数，多智能体系统通过该函数进行耦合控制。在该代价函数基础上，采用自触发机制，有效降低了通信负担。为克服加性扰动，利用每个智能体的模型预测控制器迭代求解最坏情况下的局部最小—最大优化问题。然后，给出保证算法迭代可行性和闭环多智能体系统达到一致性的充分条件。对于每个智能体，设计了兼容性约束和一致性误差终端域。最后，通过仿真算例验证了所提算法的有效性和正确性。

关键词：一致性；自触发控制；分布式模型预测控制

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Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in thepresence of uncertain dynamics

Keqiang LI, Feng GAO, Shengbo Eben LI, Yang ZHENG, Hongbo GAO

《机械工程前沿（英文）》 2018年第13卷第3期页码 354-367 doi: 10.1007/s11465-018-0486-x

摘要：

This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.

关键词： automated vehicles platoon distributed control robustness

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Discrete-event stochastic systems with correlated inputs: Modeling and performance evaluation

《工程管理前沿（英文）》 2022年第9卷第2期页码 214-220 doi: 10.1007/s42524-022-0192-6

摘要： In the majority of the previous works on discrete-event stochastic systems, they have been assumed to have independent input processes. However, in many applications, these input processes can be highly correlated. Furthermore, the performance measures of the systems with correlated inputs can be significantly different from those with independent inputs. In this paper, we provide an overview on some commonly used methods for modeling correlated input processes, and we discuss the difficulties and possible future research topics in the study of discrete-event stochastic systems with correlated inputs.

关键词： discrete-event stochastic system correlated input performance evaluation

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Improving existing “reaching law” for better discrete control of seismically-excited building structures

Zhijun LI, Zichen DENG

《结构与土木工程前沿（英文）》 2009年第3卷第2期页码 111-116 doi: 10.1007/s11709-009-0022-5

摘要： In this paper, a novel “composite reaching law” was explained in details: 1) the equation of discrete motion for a control system; 2) the design of discrete-time variable structure control. In addition, the model of a three-storey shear-type building structure was used to verify the effectiveness of the discrete variable structure control method. The results of numerical example analysis of the model show that the control law can effectively reduce the peak value of seismic response of the building structure and the chattering effect of the control system.

关键词： discrete-time variable structure control composite reaching law chattering effect saturated control law

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Novel slack-based robust scheduling rule for a semiconductor manufacturing system with uncertain processingtime

Juan LIU, Fei QIAO, Yumin MA, Weichang KONG

《工程管理前沿（英文）》 2018年第5卷第4期页码 507-514 doi: 10.15302/J-FEM-2018045

摘要：

The NP-hard scheduling problems of semiconductor manufacturing systems (SMSs) are further complicated by stochastic uncertainties. Reactive scheduling is a common dynamic scheduling approach where the scheduling scheme is refreshed in response to real-time uncertainties. The scheduling scheme is overly sensitive to the emergence of uncertainties because the optimization of performance (such as minimum make-span) and the system robustness cannot be achieved simultaneously by conventional reactive scheduling methods. To improve the robustness of the scheduling scheme, we propose a novel slack-based robust scheduling rule (SR) based on the analysis of robustness measurement for SMS with uncertain processing time. The decision in the SR is made in real time given the robustness. The proposed SR is verified under different scenarios, and the results are compared with the existing heuristic rules. Simulation results show that the proposed SR can effectively improve the robustness of the scheduling scheme with a slight performance loss.

关键词： semiconductor manufacturing system uncertain processing time dynamic scheduling slack-based robust scheduling rule

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线性离散时间系统H∞控制的极小极大Q-学习设计 Research Articles

李新兴1,奚乐乐2,3,查文中1,彭志红2

《信息与电子工程前沿（英文）》 2022年第23卷第3期页码 438-451 doi: 10.1631/FITEE.2000446

摘要： H∞控制是一种消除系统扰动的有效方式，但是由于需要求解非线性哈密顿—雅克比—伊萨克斯方程，H∞控制器往往很难得到，即便对于线性系统。本文考虑了线性离散时间系统的H∞控制器设计问题。为求解涉及的博弈代数黎卡提方程，在离线策略算法基础上提出一种新型无模型极小极大Q-学习算法，并证明离线策略迭代算法是求解博弈代数黎卡提方程的牛顿法。提出的极小极大Q-学习算法采用离轨策略强化学习技术，利用行为策略产生的系统状态数据，可实现对最优控制器和最佳干扰策略的在线学习。不同于当前Q-学习算法，本文提出一种基于梯度的策略提高方法。证明在一定持续激励条件下，对于初始可行的控制策略并结合合适学习率，提出的极小极大Q-学习算法可收敛到鞍点策略。此外，算法收敛所需的持续激励条件可通过选择包含一定噪声激励的合适行为策略实现，且不会引起任何激励噪声偏差。将提出的极小极大Q-学习算法用于受负载扰动的电力系统H∞负载频率控制器设计，仿真结果表明，最终得到的H∞负载频率控制器具有良好抗干扰性能。

关键词： H∞控制；零和动态博弈；强化学习；自适应动态规划；极小极大Q-学习；策略迭代

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基于子空间的离散时滞系统辨识 Article

Qiang LIU,Jia-chen MA

《信息与电子工程前沿（英文）》 2016年第17卷第6期页码 566-575 doi: 10.1631/FITEE.1500358

摘要：本文研究了具有未知时延的线性随机时滞系统的辨识问题。时滞系统被表达为具有单一时延的时滞差分方程。首先利用状态增广方法将时滞系统转化为一个等价的线性时不变系统，然后采用传统的子空间辨识方法来估计增广系统矩阵。本文提出了一种ACS算法，从而得到时滞系统的状态空间模型。最后，基于ACS算法得到的相似变换，重新得到卡尔曼状态序列。采用最小二乘法，利用卡尔曼状态序列和输入输出数据，得出相同状态空间下的时滞系统矩阵。仿真结果表明了这种算法的有效性。

关键词：辨识问题；时滞系统；子空间辨识方法；ACS算法；最小二乘法

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Time-varying formation tracking for uncertain second-order nonlinearmulti-agent systems

Mao-peng RAN, Li-hua XIE, Jun-cheng LI

《信息与电子工程前沿（英文）》 2019年第20卷第1期页码 76-87 doi: 10.1631/FITEE.1800557

摘要：

Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

关键词： Multi-agent system Time-varying formation Formation tracking Nonlinear dynamics Extended state observer (ESO)

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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A novel approach for remanufacturing process planning considering uncertain and fuzzy information

《机械工程前沿（英文）》 2021年第16卷第3期页码 546-558 doi: 10.1007/s11465-021-0639-1

摘要： Remanufacturing, as one of the optimal disposals of end-of-life products, can bring tremendous economic and ecological benefits. Remanufacturing process planning is facing an immense challenge due to uncertainties and fuzziness of recoverable products in damage conditions and remanufacturing quality requirements. Although researchers have studied the influence of uncertainties on remanufacturing process planning, very few of them comprehensively studied the interactions among damage conditions and quality requirements that involve uncertain, fuzzy information. Hence, this challenge in the context of uncertain, fuzzy information is undertaken in this paper, and a method for remanufacturing process planning is presented to maximize remanufacturing efficiency and minimize cost. In particular, the characteristics of uncertainties and fuzziness involved in the remanufacturing processes are explicitly analyzed. An optimization model is then developed to minimize remanufacturing time and cost. The solution is provided through an improved Takagi–Sugeno fuzzy neural network (T-S FNN) method. The effectiveness of the proposed approach is exemplified and elucidated by a case study. Results show that the training speed and accuracy of the improved T-S FNN method are 23.5% and 82.5% higher on average than those of the original method, respectively.

关键词： remanufacturing uncertain and fuzzy information process planning T-S FNN