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Event-triggered adaptive finite-time control for nonlinear systems under asymmetric time-varying state constraints Research Article

Yan Wei, Jun Luo, Huaicheng Yan, Yueying Wang,wyy676@126.com

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 12,   Pages 1551-1684 doi: 10.1631/FITEE.2000692

Abstract: This paper investigates the issue of event-triggered adaptive state-constrained control for multi-input multi-output uncertain nonlinear systems. To prevent asymmetric time-varying from being violated, a tan-type is established to transform the considered system into an equivalent “non-constrained” system. By employing a smooth switch function in the virtual control signals, the singularity in the traditional dynamic surface control can be avoided. Fuzzy logic systems are used to compensate for the unknown functions. A suitable event-triggering rule is introduced to determine when to transmit the control laws. Through Lyapunov analysis, the closed-loop system is proved to be semi-globally practical stable, and the are never violated. Simulations are provided to evaluate the effectiveness of the proposed approach.

Keywords： 事件触发控制；非线性映射；自适应模糊控制；有限时间；状态约束    

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A Study About IC and IR in Principal-gent RelationshipUnder the Engineer Supervision Institution

Qin Xuan

Strategic Study of CAE 2007, Volume 9, Issue 4,   Pages 45-49

Abstract:

According to principal-agent theory, the Incentive compatibility constraint(IC)and the participation constraint (IR) in principal-gent relationship between employer and engineer are analyzed. The conclusions are drawn:The incentive compatibility constraint (IC) is more important than participation constraint (IR), If the mechanism doesn't satisfy the needs of IC, then it will be inefficient. If the employer wants to improve the engineer supervision institution, it must adopt incentive mechanisms which can make the engineer work hard, in the mean time the incentive mechanisms play efficient roles in solving the moral hazard.  This paper will provide some implications for engineer supervision development in China.

Keywords： engineer supervision     employer     engineer     principal-gent     incentive compatibility constraint(IC)     participation constraint(IR)    

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Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation Article

Robins Mathew,Somashekhar S. Hiremath

Engineering 2018, Volume 4, Issue 4,   Pages 491-499 doi: 10.1016/j.eng.2018.07.013

Abstract:

Finding an optimal trajectory from an initial point to a final point through closely packed obstacles, and controlling a Hilare robot through this trajectory, are challenging tasks. To serve this purpose, path planners and trajectory-tracking controllers are usually included in a control loop. This paper highlights the implementation of a trajectory-tracking controller on a stepper motor-driven Hilare robot, with a trajectory that is described as a set of waypoints. The controller was designed to handle discrete waypoints with directional discontinuity and to consider different constraints on the actuator velocity. The control parameters were tuned with the help of multi-objective particle swarm optimization to minimize the average cross-track error and average linear velocity error of the mobile robot when tracking a predefined trajectory. Experiments were conducted to control the mobile robot from a start position to a destination position along a trajectory described by the waypoints. Experimental results for tracking the trajectory generated by a path planner and the trajectory specified by a user are also demonstrated. Experiments conducted on the mobile robot validate the effectiveness of the proposed strategy for tracking different types of trajectories.

Keywords： Trajectory tracking     Adaptive control     Waypoint navigation     Hilare robot     Particle swarm optimization     Probabilistic road map    

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Adaptive tracking control for air-breathing hypersonic vehicles with state constraints Article

Gong-jun LI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 5,   Pages 599-614 doi: 10.1631/FITEE.1500464

Abstract: We investigate the adaptive tracking problem for the longitudinal dynamics of state-constrained airbreathing hypersonic vehicles, where not only the velocity and the altitude, but also the angle of attack (AOA) is required to be tracked. A novel indirect AOA tracking strategy is proposed by viewing the pitch angle as a new output and devising an appropriate pitch angle reference trajectory. Then based on the redefined outputs (i.e., the velocity, the altitude, and the pitch angle), a modified backstepping design is proposed where the barrier Lyapunov function is used to solve the state-constrained control problem and the control gain of this class of systems is unknown. Stability analysis is given to show that the tracking objective is achieved, all the closed-loop signals are bounded, and all the states always satisfy the given constraints. Finally, numerical simulations verify the effectiveness of the proposed approach.

Keywords： Hypersonic vehicle     Constraints     Output redefinition     Barrier Lyapunov function    

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Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks Research

Tao Xue, Zi-wei Wang, Tao Zhang, Ou Bai, Meng Zhang, Bin Han,taozhang@tsinghua.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 649-808 doi: 10.1631/FITEE.1900418

Abstract: Accurate acceleration acquisition is a critical issue in the system, but it is difficult to directly obtain the acceleration via the existing sensing systems. The existing algorithm-based acceleration acquisition methods put more attention on finite-time convergence and disturbance suppression but ignore the error constraint and s. To this end, a novel radical bias function neural network (RBFNN) based fixed-time reconstruction scheme with error constraints is designed to realize high-performance acceleration estimation. In this scheme, a novel exponential-type is proposed to handle the error constraints. It also provides a unified and concise Lyapunov stability-proof template for constrained and non-constrained systems. Moreover, a fractional power sliding mode control law is designed to realize , where the convergence time is irrelevant to initial states or external disturbance, and depends only on the chosen parameters. To further enhance observer robustness, an RBFNN with the adaptive weight matrix is proposed to approximate and attenuate the completely unknown disturbances. Numerical simulation and human subject experimental results validate the unique properties and practical robustness.

Keywords： 加速度重构；固定时间收敛；约束控制；障碍李雅普诺夫函数；初始状态无关方法；外骨骼机器人    

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Output Feedback Control for the Descriptor TS Fuzzy Systems With Pole-placement Constraints

Gao Dan,Cao Yuanyuan

Strategic Study of CAE 2006, Volume 8, Issue 4,   Pages 63-67

Abstract:

The design of dynamic output-feedback controller is investigated for the descriptor fuzzy TS models. By transforming the design problem into the feasible solution problems to a set of linear matrix inequalities, the properly stabilizing output controllers are obtained. The resulting closed-loop system can be ensured to satisfy certain performance index and locate at the required pole-placement region.

Keywords： singular fuzzy system     dynamic output-feedback     LMI     pole placement    

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Fuzzy Extension Economy Control with the Restriction of Multi-dimension Jieke

Li Hua,Liu Feng,He Zhongxiong

Strategic Study of CAE 2001, Volume 3, Issue 8,   Pages 51-57

Abstract:

This paper discussed the intelligence control of the complex large scale systems , especially of the economy system. The entity participated in competition is regarded as a point in the fuzzy extension economy space, and all kinds of restriction conditions as a N-dimensions' jieke. Then the definition of the jieke's restriction degree is given. When the entity participates in competition, it must get the information first, and wipe off the information yawp. In order to find the best jieke and jie-gate, the extension force can be used.

Keywords： complex large scale system     FEES     jieke     impact jie-gate     extension    

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Finite-time formation control for first-order multi-agent systems with region constraints Research Articles

Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen,zquanyang@163.com,1219006322@qq.com,qz120168@hotmail.com,chenzq@nankai.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000177

Abstract: In this study, the control of s with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid, it is proved that the controller can be used to solve the formation problem with a target area. That is, all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally, a numerical example is given to illustrate the results.

Keywords： Finite-time formation     Multi-agent system     Asymptotic convergence     Set constraint     Lyapunov theorem    

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Pulse Transiently Chaotic Neural Network for Nonlinear Constrained Optimization

Li Ying,Cao Hongzhao,Hu Yunchang,Shang Xiuming

Strategic Study of CAE 2004, Volume 6, Issue 5,   Pages 45-48

Abstract:

Pulse Transiently Chaotic Neural Network (PTCNN) can find almost all optima including the part optima and the global with its abundance dynamical characteristic, when is used in nonlinear non-constrained optimization. The optimization problem is first unconstrained by virtue of non-differentiable exact penalty function, and is further solved by PTCNN. It is showed by an example that this method is efficient.

Keywords： PTCNN     penalty function     nonlinear constrained optimization    

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A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator Research Articles

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 2,   Pages 141-286 doi: 10.1631/FITEE.1900460

Abstract: Visual servo control rules that refer to the control methods of robot motion planning using image data acquired from the camera mounted on the robot have been widely applied to the motion control of robotic arms or mobile robots. The methods are usually classified as image-based visual servo, position-based visual servo, and (HVS) control rules. enhances the working range and flexibility of robotic arms. However, there is little work on applying visual servo control rules to the motion of the whole robot. We propose an HVS motion control method for a robot which combines a six-degree-of-freedom (6-DOF) robotic arm with a nonholonomic mobile base. Based on the kinematic differential equations of the robot, the matrix of the whole robot is derived, and the HVS control equation is derived using the whole Jacobian matrix combined with position and visual image information. The distance between the gripper and target is calculated through the observation of the marker by a camera mounted on the gripper. The differences between the positions of the markers ’ feature points and the expected positions of them in the image coordinate system are also calculated. These differences are substituted into the control equation to obtain the speed control law of each degree of freedom of the robot. To avoid the position error caused by observation, we also introduce the to correct the positions and orientations of the end of the manipulator. Finally, the proposed algorithm is validated on a platform consisting of a Bulldog chassis, a UR5 robotic arm, and a ZED camera.

Keywords： Mobile manipulation     Hybrid visual servo     Eye-in-hand     Global Jacobian     Kalman filter    

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Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation Article

Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos

Engineering 2015, Volume 1, Issue 1,   Pages 66-72 doi: 10.15302/J-ENG-2015016

Abstract:

This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.

Keywords： microrobotics     vibration micromotor     actuation nonholonomic planning     nonholonomic constraints compensation    

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Present Situation and Future Prospects of Child Restraint Systems for Vehicles

Fang Yuan,Wu Guangqiang

Strategic Study of CAE 2006, Volume 8, Issue 8,   Pages 81-85

Abstract:

Child restraint system(CRS)is a new study field in the world. Especially in China, the CRS research is particularly meaningful with the rapid growth of the number of child passengers. The amendment and optimization on the regulations of CRS are brought out based on the distinction between CRS and occupant safety systems. The application of advanced design theory, the technology of computer simulation and the systematical analysis strategy will bring a new prospect for the development of CRS.

Keywords： child restraint system     safety chair     sled test     injury criteria     rating program    

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Optimal two-impulse space interception with multiple constraints Research Articles

Li Xie, Yi-qun Zhang, Jun-yan Xu,lixie@ncepu.edu.cn,yiqunzhang@hotmail.com,junyan_Xu@sina.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 7,   Pages 963-1118 doi: 10.1631/FITEE.1800763

Abstract: We consider optimal two-impulse with . The are imposed on the terminal position of a space interceptor, impulse and impact instants, and the component-wise magnitudes of velocity impulses. These optimization problems are formulated as and solved by the calculus of variations. Slackness variable methods are used to convert all inequality constraints into equality constraints so that the Lagrange multiplier method can be used. A new is presented. As a result, an indirect optimization method is developed. Subsequently, our method is used to solve the two-impulse of free-flight ballistic missiles. A number of conclusions for have been drawn based on highly accurate numerical solutions. Specifically, by numerical examples, we show that when time and velocity impulse constraints are imposed, optimal two-impulse solutions may occur; if two-impulse instants are free, then a two-impulse space interception problem with velocity impulse constraints may degenerate to a one-impulse case.

Keywords： 空间拦截问题；变分法；多约束；两速度脉冲；多点边值问题；局部最优解；动态松弛变量法    

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Low complexity robust adaptive beamforming for general-rank signal model with positive semidefinite constraint Article

Yu-tang ZHU,Yong-bo ZHAO,Jun LIU,Peng-lang SHUI

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 11,   Pages 1245-1252 doi: 10.1631/FITEE.1601112

Abstract: We propose a low complexity robust beamforming method for the general-rank signal model, to combat against mismatches of the desired signal array response and the received signal covariance matrix. The proposed beamformer not only considers the norm bounded uncertainties in the desired and received signal covariance matrices, but also includes an additional positive semidefinite constraint on the desired signal covariance matrix. Based on the worst-case performance optimization criterion, a computationally simple closed-form weight vector is obtained. Simulation results verify the validity and robustness of the proposed beamforming method.

Keywords： Beamforming     General-rank     Low complexity     Positive semidefinite (PSD) constraint     Model mismatches    

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Hohmann transfer via constrained optimization None

Li XIE, Yi-qun ZHANG, Jun-yan XU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11,   Pages 1444-1458 doi: 10.1631/FITEE.1800295

Abstract:

Inspired by the geometric method proposed by Jean-Pierre MAREC, we first consider the Hohmann transfer problem between two coplanar circular orbits as a static nonlinear programming problem with an inequality constraint. By the Kuhn-Tucker theorem and a second-order sufficient condition for minima, we analytically prove the global minimum of the Hohmann transfer. Two sets of feasible solutions are found: one corresponding to the Hohmann transfer is the global minimum and the other is a local minimum. We next formulate the Hohmann transfer problem as boundary value problems, which are solved by the calculus of variations. The two sets of feasible solutions are also found by numerical examples. Via static and dynamic constrained optimizations, the solution to the Hohmann transfer problem is re-discovered, and its global minimum is analytically verified using nonlinear programming.

Keywords： Hohmann transfer     Nonlinear programming     Constrained optimization     Calculus of variations    

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Title Author Date Type Operation

Event-triggered adaptive finite-time control for nonlinear systems under asymmetric time-varying state constraints

Yan Wei, Jun Luo, Huaicheng Yan, Yueying Wang,wyy676@126.com

Journal Article

A Study About IC and IR in Principal-gent RelationshipUnder the Engineer Supervision Institution

Qin Xuan

Journal Article

Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation

Robins Mathew,Somashekhar S. Hiremath

Journal Article

Adaptive tracking control for air-breathing hypersonic vehicles with state constraints

Gong-jun LI

Journal Article

Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks

Tao Xue, Zi-wei Wang, Tao Zhang, Ou Bai, Meng Zhang, Bin Han,taozhang@tsinghua.edu.cn

Journal Article

Output Feedback Control for the Descriptor TS Fuzzy Systems With Pole-placement Constraints

Gao Dan,Cao Yuanyuan

Journal Article

Fuzzy Extension Economy Control with the Restriction of Multi-dimension Jieke

Li Hua,Liu Feng,He Zhongxiong

Journal Article

Finite-time formation control for first-order multi-agent systems with region constraints

Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen,zquanyang@163.com,1219006322@qq.com,qz120168@hotmail.com,chenzq@nankai.edu.cn

Journal Article

Pulse Transiently Chaotic Neural Network for Nonlinear Constrained Optimization

Li Ying,Cao Hongzhao,Hu Yunchang,Shang Xiuming

Journal Article

A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Journal Article

Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation

Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos

Journal Article

Present Situation and Future Prospects of Child Restraint Systems for Vehicles

Fang Yuan,Wu Guangqiang

Journal Article

Optimal two-impulse space interception with multiple constraints

Li Xie, Yi-qun Zhang, Jun-yan Xu,lixie@ncepu.edu.cn,yiqunzhang@hotmail.com,junyan_Xu@sina.cn

Journal Article

Low complexity robust adaptive beamforming for general-rank signal model with positive semidefinite constraint

Yu-tang ZHU,Yong-bo ZHAO,Jun LIU,Peng-lang SHUI

Journal Article

Hohmann transfer via constrained optimization

Li XIE, Yi-qun ZHANG, Jun-yan XU

Journal Article