Conference Program of WCICA 2012

Conference Program WCICA 2012
Lin, Zongli
Univ. of Virginia
This paper studies local control of discrete-time periodic linear systems
subject to input saturation by using the multi-step periodic invariant set
approach. Multi-step periodic invariant set refers to a set from which all
trajectories will enter a periodic invariant set after finite steps, remain
there forever, and eventually converge to the origin as time approaches
infinity. A couple of problems including the (robust) estimation of
domain of attraction, (robust) local stabilization, and disturbance rejection
are considered. Compared with the conventional periodic invariant
set approach which has been used in the literature for local stability
and stabilization of discrete-time periodic linear systems subject to input
saturation, this new invariant set approach is capable of significantly
reducing the conservatism by introducing more auxiliary variables in the
set invariance conditions. Moreover, the new approach allows to design
(robust) stabilizing periodic controller whose period is the same as the
open-loop system, which is different from the existing periodic enhancement
approach by which the period of the controller is multiple times of
the period of the open-loop system. Several numerical examples are
worked out to show the effectiveness of the proposed approach.
◮ FrB09-3 16:30–16:50
Simultaneous Stabilization and Synchronization of Non-Identical Linear
Multi-Agent Systems with Switching Topology, pp.976–981
Hu, Guoqiang
Xie, Lihua
Nanyang Technological Univ.
Nanyang Technological Univ.
In this paper, we study a simultaneous stabilization and synchronization
(SSS) problem for one class of linear multi-agent systems with nonidentical
agent dynamics and switching information-exchange topology.
We show that a single control loop can be designed for each agent to
enable some internal agent states to be stabilized while some other external
states to be synchronized. We design a distributed control law
based on local measurements and information exchanged from neighboring
agents to enable SSS. The sufficient conditions to achieve SSS
are obtained by properly designing a SSS reference system, followed
by specific approaches of designing the control gain matrices. An example
and simulation results are provided to demonstrate the effectiveness
of the proposed method.
◮ FrB09-4 16:50–17:10
Remarks on Integral-ISS for Systems with Delays, pp.2227–2232
Tiwari, Shanaz
Wang, Yuan
Jiang, Zhongping
Florida Atlantic Univ.
Florida Atlantic Univ.
Polytechnic Univ.
The notion of integral input-to-state stability (integral-ISS) is now recognized
as a central concept in nonlinear systems analysis. In this work,
we explore the Razumikhin approach to the integral-ISS property for
systems with delays. The main idea is to treat the delayed state variable
as a disturbance input. The results in this work extend the previous
results on the Razumikhin method in the contexts of asymptotic stability
and ISS to the context of integral-ISS.
◮ FrB09-5 17:10–17:30
Optimal Control of Finite-valued Networks, pp.2274–2279
Cheng, Daizhan
Zhao, Yin
Liu, Jiangbo
Chinese Acad. of Sci.
Acad. of mathematics & Sys. Sci., CAS
Bradley Univ.
Control of finite-valued networks, including Boolean networks, is currently
a hot topic. In this paper the optimization control of the networks
with present value performance criterion is discussed. The problem is
formulated as a finite strategy game between human and machine. It
is firstly proved that the optimal strategy can be found in the set of periodic
strategies, which makes the problem finitely computable, though
the computational complexity of exhaustion might be a severe problem.
Then an efficient numerical method is developed to solve the problem.
Some interesting examples are presented to demonstrate the efficiency
of our results.
◮ FrB09-6 17:30–17:50
Robust Flight Control System Design for an Indoor Miniature Coaxial
Helicopter, pp.2918–2924
Wang, Biao
Wang, Fei
Chen, Ben M.
Lee, Tong Heng
Nanjing Univ. of Aeronautics & Astronautics
National Univ. of Singapore
National Univ. of Singapore
National Univ. of Singapore
A complete flight control scheme with detailed design methodology is
proposed for an indoor miniature coaxial helicopter with fixed collective
pitch. To avoid system complexity and the problem of minimum
phase control, the helicopter dynamic model is decomposed into two
cascaded subsystems: an inner one for attitude and heading control
and the outer one for trajectory control. H-infinity control technique and
robust and perfect tracking method are used to respectively design the
inner- and outer-loop controllers. By using the so-called asymptotic
time-scale and eigenstructure assignment approach, the design process
becomes very systematic and effective. The performance of the
autonomous flight control system has been successfully validated in
actual flight tests.
FrB10 15:50–17:50 Room 311B
Invited Session: Nonsmooth Control of Nonlinear Systems
Chair: Li, Shihua
Co-Chair: Wang, Jiankui
Southeast Univ., China
Tianjin Univ.
◮ FrB10-1 15:50–16:10
Finite-time observer for a class of time-varying nonlinear systems,
pp.2647–2652
Du, Haibo
Qian, Chunjiang
Yang, Shizhong
Li, Shihua
Southeast Univ.
Univ. of Texas at San Antonio
Univ. of Texas at San Antonio
Southeast Univ., China
The problem of global finite-time convergent observer design for a class
of nonlinear systems with time-varying coefficients is investigated in this
paper. To solve this problem, a new time-varying finite-time convergent
observer is first designed for the nominal system without nonlinearities.
Using a recursive argument, an explicitly homogeneous Lyapunov
function is constructed to prove the finite-time convergence of the error
dynamic system. Then, using the homogeneous domination approach,
we scale the finite-time observer with an appropriate choice of gain to
obtain a global finite-time convergent observer for the nonlinear system.
◮ FrB10-2 16:10–16:30
Non-Smooth Robust Nonlinear Control for Robotic Manipulators,
pp.1447–1452
Zhao, Dongya
Xie, Lihua
Zhu, Quan-Min
China Univ. of Petroleum
Nanyang Technological Univ.
Univ. of the West of England
A new non-smooth robust nonlinear control approach is proposed for
robotic manipulators. Compared with the existing robust nonlinear control
for robots, the new developed can achieve higher control precision
and faster convergence speed. The stability property is analyzed in
terms of Lyapunov redesign method. An illustrative example is presented
to validate the effectiveness of the proposed approach.
◮ FrB10-3 16:30–16:50
Finite-time Robust Stabilization of Dynamic Feedback Nonholonomic
Mobile Robots Based on Visual Servoing with Input Saturation,
pp.3686–3691
Chen, Hua
Wang, Chaoli
Zhang, Dongkai
Yang, Fang
Hohai Univ., Changzhou Campus
Univ. of Shanghai for Sci. & Tech.
Univ. of Shanghai for Sci. & Tech.
Univ. of Shanghai for Sci. & Tech.
In this paper, the finite-time robust stabilization problem is addressed
in the presence of uncalibrated visual parameters for a class of dynamic
feedback nonholonomic robots based on visual servoing with input
saturation. The objective is to design a nonsmooth and bounded state
feedback law such that the robots system is both Lyapunov stable and
finite-time convergent within any given settling time. A new saturated
switching controller is proposed directly based on the original system,
which can effectively avoid the problem of singularity caused by using
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