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Stability Analysis of Parallel Fuzzy P + Fuzzy I + Fuzzy D Control Systems 认领 引用 被引量：3
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作者 Vineet Kumar A. P. Mittal R. Singh 《International Journal of Automation and computing》 CSCD 2013年第2期91-98,共8页
The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the sta... The study presented in this paper is in continuation with the paper published by the authors on parallel fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller. It addresses the stability analysis of parallel FP ＋ FI ＋ FD controller. The famous＂small gain theorem＂ is used to study the bounded-input and bounded-output （BIBO） stability of the fuzzy controller. Sufficient BIBO-stability conditions are developed for parallel FP ＋ FI ＋ FD controller. FP ＋ FI ＋ FD controller is derived from the conventional parallel proportional plus integral plus derivative （PID） controller. The parallel FP ＋ FI ＋ FD controller is actually a nonlinear controller with variable gains. It shows much better set-point tracking, disturbance rejection and noise suppression for nonlinear processes as compared to conventional PID controller. 展开更多
关键词 Proportional plus integral plus derivative （PID） fuzzy proportional plus fuzzy integral plus fuzzy derivative （FP ＋ FI ＋ FD） controller fuzzy control bounded-input and bounded-output （BIBO） stability nonlinear process.
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Rotorcraft with a 3DOF Rigid Manipulator:Quaternion-based Modeling and Real-time Control Tolerant to Multi-body Couplings 认领 引用 被引量：4
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作者 J.Alvarez-Munoz N.Marchand +3 位作者 J.F.Guerrero-Castellanos J.J.Tellez-Guzman J.Escareno M.Rakotondrabe 《International Journal of Automation and computing》 CSCD 2018年第5期547-558,共12页
This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the ... This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy. 展开更多
关键词 Observer-based control quaternion and Newton-Euler modeling bounded-input control aerial manipulator disturbancerejection.
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有限时间镇定及其在电机速度控制中的应用 认领 引用 被引量：1
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作者 郭杨 姚郁 +2 位作者 王仕成 杨宝庆 刘锋 《电机与控制学报》 EI CSCD 北大核心 2011年第12期83-88,95,共6页
针对线性系统有限时间稳定并满足一定性能指标的控制器设计问题,结合有限时间有界与有限时间输入输出镇定方法,给出了满足性能约束的充分条件和状态反馈控制器的设计方法。而后将此方法应用于航天器控制力矩陀螺外框电机控制设计中,其... 针对线性系统有限时间稳定并满足一定性能指标的控制器设计问题,结合有限时间有界与有限时间输入输出镇定方法,给出了满足性能约束的充分条件和状态反馈控制器的设计方法。而后将此方法应用于航天器控制力矩陀螺外框电机控制设计中,其目的是在理论上严格保证系统的某些状态有界,同时利用事先给定的有限时间区间满足系统的动态品质需求。仿真结果表明:加入控制器的闭环系统能快速跟踪参考信号,同时电流值亦能满足预先在不同时段给定的界。 展开更多
关键词 有限时间有界 有限时间输入输出稳定 速度跟踪控制 线性系统
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Model Implementation and Analysis of a True Three-dimensional Display System 认领 引用
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作者 Ye Tian Yang Yang +1 位作者 Han Yang Ze Ji 《Computer Systems Science & Engineering》 SCIE EI 2021年第12期403-414,共12页
To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D... To model a true three-dimensional(3D)display system,we introduced the method of voxel molding to obtain the stereoscopic imaging space of the system.For the distribution of each voxel,we proposed a four-dimensional(4D)Givone–Roessor(GR)model for state-space representation—that is,we established a local state-space model with the 3D position and one-dimensional time coordi-nates to describe the system.First,we extended the original elementary operation approach to a 4D condition and proposed the implementation steps of the realiza-tion matrix of the 4D GR model.Then,we described the working process of a true 3D display system,analyzed its real-time performance,introduced the fixed-point quantization model to simplify the system matrix,and derived the conditions for the global asymptotic stability of the system after quantization.Finally,we provided an example to prove the true 3D display system’s feasibility by simulation.The GR-model-representation method and its implementation steps proposed in this paper simplified the system’s mathematical expression and facilitated the microcon-troller software implementation.Real-time and stability analyses can be used widely to analyze and design true 3D display systems. 展开更多
关键词 True 3D display system method of voxel molding(MVM) Givone-Roessor(GR)model asymptotic stability Bounded-Input Bounded-Output(BIBO)stability real-time display
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