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Publisher: John Wiley and Sons (Total: 1583 journals)
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Archeological Papers of The American Anthropological Association
[SJR: 0.156] [H-I: 2] [14 followers] Follow
Hybrid journal (It can contain Open Access articles)
ISSN (Print) 1551-823X - ISSN (Online) 1551-8248
Published by John Wiley and Sons [1583 journals]
- Synchronization control for a swarm of unicycle robots: analysis of
different controller topologies
- Authors: H. Gutiérrez; A. Morales, H. Nijmeijer
Abstract: This paper proposes a nonlinear synchronization controller for a swarm of unicycle robots performing a cooperative task, i.e., following a desired trajectory per robot while maintaining a prescribed formation. The effect of communication between robots is analyzed and several network topologies are investigated, e.g., all-to-all, ring type, undirected, among others. The stability analysis of the closed loop system is provided using the Lyapunov method. Experiments with four unicycle robots are presented to validate the control law and communication analysis. Accumulated errors over the experiment time are presented in order to determine which topology is most efficient.
PubDate: 2017-04-04T07:12:20.66807-05:0
DOI: 10.1002/asjc.1497
- Authors: H. Gutiérrez; A. Morales, H. Nijmeijer
- On The Modeling of Twin Rotor MIMO System Using Chirp Inputs as Test
- Authors: Parthish Kumar Paul; Jeevamma Jacob
Abstract: This paper addresses the modeling problem for the twin rotor multi input multi output system. To develop experimental data, this popular commercial laboratory model of a helicopter from Feedback Instruments Ltd is excited with band limited chirp inputs. The conclusions drawn in this paper lead to four significant achievements: 1) derivation of a linear nominal model for Twin Rotor MIMO System, TRMS in short, from its equivalent nonlinear mathematical representation; 2) dynamic modeling of TRMS; 3) determination of non-minimum phase dynamics; and 4) determination of linear operating region. The work considers systematic study of the system dynamics of TRMS and analytical treatment of its identified data leading to derivation of the RHP zero dynamics followed by pictorial illustrations indicating resonant modes associated with the plant. The method used in the present paper can be essentially used in modeling of 2 × 2 plants exhibiting non-minimum phase dynamics and model uncertainties.
PubDate: 2017-04-04T07:06:32.932912-05:
DOI: 10.1002/asjc.1502
- Authors: Parthish Kumar Paul; Jeevamma Jacob
- Stability Analysis in a Curved Road Traffic Flow Model Based on Control
- Authors: Xiang Pei Meng; Li Ying Yan
Abstract: In the paper, a novel traffic flow model is proposed to describe the behavior of vehicles moving on a curved road with a slope. We investigate the related influences on uniform traffic jam analytically and numerically. Based on control theory, the condition for no traffic jam is obtained analytically. Finally, simulations are carried out to verify the new traffic flow model. The theoretical and numerical results show that the related factors including the friction coefficient, radius of curvature, slope of the curved road and the parameter λ have major effects on the stability of traffic flow respectively.
PubDate: 2017-04-04T07:01:26.150105-05:
DOI: 10.1002/asjc.1505
- Authors: Xiang Pei Meng; Li Ying Yan
- Adaptive Robust Output Tracking Control of Uncertain Nonlinear Cascade
Systems with Disturbance and Multiple Uknown Time-Varying Delays
- Authors: Hossein Chehardoli; Ali Ghasemi
Abstract: In this paper, an adaptive robust controller is designed for a class of uncertain nonlinear cascade systems with multiple time-varying delays under external disturbance. It is assumed that multiple time-varying delays are not exactly known and, therefore, the delayed terms must not appear in the adaptation and control laws. Accordingly, by using a Lyapunov-Krasovskii function, delays are deleted from the adaptation and control laws. A controller based on an adaptive backstepping approach is designed to assure the global asymptotic tracking of the desired output and boundedness of the other states. The proposed controller is proved to be robust against unknown time-varying delays and external disturbances applying to the system. Simulation results are provided to show the effectiveness of the proposed approach.
PubDate: 2017-04-04T07:01:06.931632-05:
DOI: 10.1002/asjc.1504
- Authors: Hossein Chehardoli; Ali Ghasemi
- Three-Axis Global Magnetic Attitude Control of Earth-Pointing Satellites
in Circular Orbit
- Authors: Dipak Giri; Bijoy Mukherjee, Bidul T N, Manoranjan Sinha
Abstract: This paper addresses the controllability and global stability issues of a magnetically actuated satellite in the geomagnetic field. The variation of the geomagnetic field along the orbit, which is time varying in nature, makes the dynamics of the satellite time varying also. Sufficient conditions for controllability of such a time varying magnetic attitude control system are given. As a major contribution, it is proven that the three-axis controllability of the spacecraft actuated by the magnetic actuators is possible and it does not depend on the initial angular velocity of the spacecraft. Global controllability is a precursor to global stability. Therefore, exponential stability for an arbitrarily high initial angular velocity and an arbitrary initial orientation is proven next for a proportional-derivative control law using averaging theory. It is also proven that even an iso-inertial satellite can be stabilized using the time invariant feedback control, which was hitherto not possible, even using time variant conventional control. Simulation results are presented under different initial orientations and angular velocities of the satellite in the presence of favorable and unfavorable gravity gradient torques to validate the proposed control method.
PubDate: 2017-03-31T09:25:36.605094-05:
DOI: 10.1002/asjc.1506
- Authors: Dipak Giri; Bijoy Mukherjee, Bidul T N, Manoranjan Sinha
- Minimum Energy Control of Fractional Descriptor Discrete-Time Linear
Systems with Bounded Inputs Using The DRAZIN Inverse
- Authors: Tadeusz Kaczorek
Abstract: The Drazin inverse of matrices is applied to solve the minimum energy control problem of fractional descriptor discrete-time linear systems with bounded inputs. Necessary and sufficient conditions for the reachability of fractional descriptor linear systems are established. The minimum energy control problem for the fractional descriptor systems with bounded inputs is formulated and solved. A procedure for the computation of the optimal inputs sequence and the minimal value of the performance index is proposed.
PubDate: 2017-03-29T12:15:33.309721-05:
DOI: 10.1002/asjc.1510
- Authors: Tadeusz Kaczorek
- Attitude Tracking Control of A Quad-Rotor with Partial Loss of Rotation
- Authors: Zhankui Song; Kaibiao Sun
Abstract: This paper investigates the attitude control problem of a quad-rotor unmanned helicopter. In response to adverse factors, including the lumped disturbance, inertia parameter uncertainties, and the partial loss of rotation effectiveness, an adaptive compensation control strategy combining the terminal sliding mode technique and the input shaping method is proposed. Specifically, a group of updating laws using an adaptive mechanism is added to adjust the control strategy in a manner conductive to attitude stability and performance preservation in the presence of adverse factors. The key features of the proposed control strategy are that it is independent from the knowledge of actuator faults, and adaptive compensation control is achieved without the need for online identification of rotor failure. The finite time convergence and stability of the attitude tracking errors are proved by using Lyaponov's method. Finally, the simulation results demonstrate the effectiveness of the proposed control strategy.
PubDate: 2017-03-29T09:50:37.342996-05:
DOI: 10.1002/asjc.1495
- Authors: Zhankui Song; Kaibiao Sun
- Consensus Control of Fractional-Order Systems Based on Delayed State
Fractional Order Derivative
- Authors: Xueliang Liu; Zhi Zhang, Huazhu Liu
Abstract: In this paper, the delayed state fractional order derivative (DSFOD) is introduced into the existing traditional consensus protocol aiming to improve the robustness of fractional-order multi-agent systems against communication time delay. Both of communication channels with time-delay and without time-delay cases are considered. Based on the frequency-domain analysis and algebraic graph theory, it is shown that properly choosing the intensity of DSFOD can improve the robustness of fractional-order multi-agent systems against communication delay. Finally, a simulated example with simulations is presented to confirm the correctness and effectiveness of the theoretical results.
PubDate: 2017-03-29T09:45:36.366043-05:
DOI: 10.1002/asjc.1493
- Authors: Xueliang Liu; Zhi Zhang, Huazhu Liu
- Active DIsturbance Rejection Control of Surface Vessels Using Composite
Error Updated Extended State Observer
- Authors: Tairen Sun; Jun Zhang, Yongping Pan
Abstract: In this paper, a composite-errors-based active disturbance rejection control law is proposed for surface vessels with exogeneous disturbances. The low-frequency disturbances from wind, wave and ocean currents are estimated by a novel composite-errors-based extended state observer (ESO). Since the composite errors are composed of trajectory tracking errors and estimation errors, the disturbance rejection control is feedforward-feedback composite control. The advantages of feedforward control and feedback control are exploited to reject system disturbances. Compared with conventional ESO-based active disturbance rejection control, smaller estimation errors and smaller tracking errors can be achieved by the proposed disturbance compensation control. The effectiveness and superiority of the designed control law are illustrated by theoretical analysis and simulation results.
PubDate: 2017-03-22T09:22:52.276078-05:
DOI: 10.1002/asjc.1489
- Authors: Tairen Sun; Jun Zhang, Yongping Pan
- Fault Diagnosis for Discrete Event Systems Modeled By Bounded Petri Nets
- Authors: Ning Ran; Shouguang Wang, Hongye Su, Chengying Wang
Abstract: Fault diagnosis is an important problem in the manufacturing industry. It has been extensively studied in the past few decades both in time-driven systems and discrete event systems. This paper presents a Petri net diagnoser for online fault diagnosis of discrete event systems modeled by bounded labeled Petri nets. First, we present the concept and some properties of an extended basis reachability graph. Next, based on such a graph, we construct a Petri net diagnoser that is used to determine if a fault has occurred. Finally, an example is given to illustrate the application of the proposed diagnoser.
PubDate: 2017-03-21T02:21:16.091276-05:
DOI: 10.1002/asjc.1500
- Authors: Ning Ran; Shouguang Wang, Hongye Su, Chengying Wang
- Fault Detection and Isolation Method Based on H−/H∞ Unknown Input
Observer Design in Finite Frequency Domain
- Authors: Meng Zhou; Zhenhua Wang, Yi Shen
Abstract: This paper proposes an actuator fault detection and isolation strategy based on a bank of unknown input observers with finite frequency specifications. In order to deal with actuator fault diagnosis problem, a bank of H−/H∞ unknown input observers are designed to generate residuals, which are insensitive to the corresponding faults but sensitive to the other actuators faults, and meanwhile robust against the unknown disturbances. In this paper, the actuator faults and unknown disturbances are considered to belong to finite frequency domains, and two finite frequency performance indices are used to measure the fault sensitivity and the disturbance robustness of the residuals. Furthermore, some parameters for extra design of freedom are introduced in the H−/H∞ unknown input observers design. Based on the generalised Kalman-Yakubovich-Popov (GKYP) lemma, the design conditions of the H−/H∞ unknown input observer are derived and formulated as linear matrix inequalities (LMIs). Finally, a VTOL aircraft model is used to demonstrate the performance of the proposed fault diagnosis scheme.
PubDate: 2017-03-20T04:55:38.184746-05:
DOI: 10.1002/asjc.1490
- Authors: Meng Zhou; Zhenhua Wang, Yi Shen
- Stabilization of a heat-ODE system cascaded at a boundary point and an
intermediate point
- Authors: Zhiyuan Zhen; Shu-Xia Tang, Zhongcheng Zhou
Abstract: This paper considers the stabilization of a heat-ODE system cascaded at a boundary point and an intermediate point. The stabilizing feedback control law is designed by the backstepping method. Based on a novel transformation, we prove that all the kernel functions in the forward and inverse transformations are of the class C2. Moreover, the effectiveness of controller design is shown with a numerical simulation. Finally, we show the coherence between the controllability assumption of the main theorem in this paper and the known one for a special case with λ=0.
PubDate: 2017-03-20T04:55:33.181111-05:
DOI: 10.1002/asjc.1501
- Authors: Zhiyuan Zhen; Shu-Xia Tang, Zhongcheng Zhou
- Observer-based Fault Estimators Using Iterative Learning Scheme for Linear
Time-delay Systems with Intermittent Faults
- Authors: Li Feng; Ke Zhang, Yi Chai, Zhimin Yang, Shuiqing Xu
Abstract: This paper deals with the fault estimation problem for a class of linear time-delay systems with intermittent fault and measurement noise. Different from existing observer-based fault estimation schemes, in the proposed design, an iterative learning observer is constructed by using the integrated errors composed of state predictive error and tracking error in the previous iteration. First of all, Lyapunov function including the information of time delay is proposed to guarantee the convergence of system output. Subsequently, a novel fault estimation law based on iterative learning scheme is presented to estimate the size and shape of various fault signals. Upon system output convergence analysis, we proposed an optimal function to select appropriate learning gain matrixes such that tracking error converges to zero, simultaneously to ensure the robustness of the proposed iterative learning observer which is influenced by measurement noise. Note that, an improved sufficient condition for the existence of such an estimator is established in terms of the linear matrix inequality (LMI) by the Schur complements and Young relation. In addition, the results are both suit for the systems with time-varying delay and the systems with constant delay. Finally, three numerical examples are given to illustrate the effectiveness of the proposed methods and two comparability examples are provided to prove the superiority of the algorithm.
PubDate: 2017-03-20T04:50:51.890483-05:
DOI: 10.1002/asjc.1491
- Authors: Li Feng; Ke Zhang, Yi Chai, Zhimin Yang, Shuiqing Xu
- Distributed Adjacency Weight Design for Second-order Consensus in Wireless
Sensor and Actuator Networks
- Authors: Zhenping Chen; Yourui Huang, Dequan Li, Chaoli Tang
Abstract: The energy supply for sensors in wireless sensor and actuator networks (WSANs) is usually limited, we therefore focus on how to design the adjacency weights for achieving second-order consensus with less communication energy consumption in a distributed way, and investigate this issue from both the viewpoints of the rate of convergence and the sparsity of the network. We also derived the conditions on the consensus control parameter and the updating period for the proposed consensus protocol to ensure the convergence. It is shown that, by removing some properly chosen links, the sparsity of the resulting network can produce a positive effect on the energy efficiency of WSANs. Finally, simulation results are presented to verify the effectiveness of the proposed algorithm.
PubDate: 2017-03-20T04:47:08.431288-05:
DOI: 10.1002/asjc.1498
- Authors: Zhenping Chen; Yourui Huang, Dequan Li, Chaoli Tang
- Synthesis of Mixed Objective Output Feedback Robust Model Predictive
- Authors: Wei Jiang; Hongli Wang, Jinghui Lu, Weiwei Qin, Guangbin Cai
Abstract: Aiming at the constrained polytopic uncertain system with energy-bounded disturbance and unmeasurable states, a novel synthesis scheme to design the output feedback robust model predictive control(MPC)is put forward by using mixed H2/H∞ design approach. The proposed scheme involves an offline design of a robust state observer using linear matrix inequalities(LMIs)and an online output feedback robust MPC algorithm using the estimated states in which the desired mixed objective robust output feedback controllers are cast into efficiently tractable LMI-based convex optimization problems. In addition, the closed-loop stability and the recursive feasibility of the proposed robust MPC are guaranteed through an appropriate reformulation of the estimation error bound (EEB). A numerical example subject to input constraints illustrates the effectiveness of the proposed controller.
PubDate: 2017-03-20T04:46:03.799864-05:
DOI: 10.1002/asjc.1494
- Authors: Wei Jiang; Hongli Wang, Jinghui Lu, Weiwei Qin, Guangbin Cai
- Taylor polynomial Approximation and Adaptive Passivity-Based Control
Applied to the Level Regulation of a Conical Tank
- Authors: Juan Carlos Travieso-Torres; Manuel A. Duarte-Mermoud, Orlando Beytía-Cancino
Abstract: The techniques of Taylor polynomial approximation (TPA) and adaptive passivity-based controller (APBC) are combined in this study and applied to the level regulation of a conical tank. The design and comparative experimental results with a classical PI controller are presented. After combining these two approaches a robust adaptive controller named TPA–APBC, which is simpler than the classical APBC and PI controller, is obtained. This new TPA–APBC preserves the stability of the overall system after assuming that the nonlinear system is unknown and that it can be suitably represented by a first-order linear model with unknown parameters.
PubDate: 2017-03-10T10:32:33.038358-05:
DOI: 10.1002/asjc.1496
- Authors: Juan Carlos Travieso-Torres; Manuel A. Duarte-Mermoud, Orlando Beytía-Cancino
- L-Step Reachability and Observability of Networked Control Systems with
Bandwidth Limitations: Feasible Lower Bounds on Communication Periods
- Authors: Mohammad Mahdi Share Pasand; Mosen Montazeri
Abstract: Conditions for l-step reachability and observability of a networked control system subject to bandwidth limitations are given. Short feasible lower bounds for a communication sequence period resulting in a l-step reachable (observable) networked control system are derived without assuming any condition on the plant eigenvalues/eigenvectors. Though larger than some previously reported results, the established lower bounds do not require additional constraints on system eigenvalues. The proposed results cover systems with bandwidths equal to or greater than unity. Some further remarks on short feasible lower bounds in the case of non-invertible state matrices, the relation between admissibility of communication sequences and structural properties of the zero order hold system state space description, and the connection between observability in zero order hold and reset to zero cases are drawn as well. A numerical example is included for clarification and comparison.
PubDate: 2017-03-08T05:45:35.827526-05:
DOI: 10.1002/asjc.1476
- Authors: Mohammad Mahdi Share Pasand; Mosen Montazeri
- On Convergence of Volterra Series Expansion of a Class of Nonlinear
- Authors: Xingjian Jing; Zhenlong Xiao
Abstract: A fundamental issue in conducting the analysis and design of a nonlinear system via Volterra series theory is how to ensure the excitation magnitude and/or model parameters will be in the appropriate range such that the nonlinear system has a convergent Volterra series expansion. To this aim, parametric convergence bounds of Volterra series expansion of nonlinear systems described by a NARX model, which can reveal under what excitation magnitude or within what parameter range a given NARX system is able to have a convergent Volterra series expansion subject to any given input signal, are investigated systematically in this paper. The existing bound results often are given as a function of the maximum input magnitude, which could be suitable for single-tone harmonic inputs but very conservative for complicated inputs (e.g. multi-tone or arbitrary inputs). In this study, the output response of nonlinear systems is expressed in a closed form, which is not only determined by the input magnitude but also related to the input energy or waveform. These new techniques result in more accurate bound criteria, which are not only functions of model parameters and the maximum input magnitude but also consider a factor reflecting the overall input energy or wave form. This is significant to practical applications, since the same nonlinear system could exhibit chaotic behavior subject to a simple single-tone input but might not with respect to other different input signals (e.g. multi-tone inputs) of the same input magnitude. The results provide useful guidance for the application of Volterra series-based theory and methods from an engineering point of view. The Duffing equation is used as a benchmark example to show the effectiveness of the results.
PubDate: 2017-03-08T05:40:48.529618-05:
DOI: 10.1002/asjc.1485
- Authors: Xingjian Jing; Zhenlong Xiao
- Discrete-Time Super-Twisting Guidance Law with Actuator Faults
- Authors: Shaoming He; Wei Wang, Jiang Wang
Abstract: This paper proposes a robust fault-tolerant guidance law against unknown maneuvering targets based on discrete-time sliding mode control theory. To address this problem, a time-delay observer is designed to estimate the lumped disturbance, which includes target maneuver as well as actuator faults. A robust discrete-time guidance law is then synthesized based on the discrete-time super-twisting algorithm. Due to the principle of the super-twisting algorithm, the presented guidance law is a naturally chattering-free formulation. Detailed stability analysis shows that the line-of-sight angular rate under the proposed guidance law can be stabilized in a small region around zero. Simulation results are also provided to verify the effectiveness of the proposed approach.
PubDate: 2017-03-08T05:37:01.685123-05:
DOI: 10.1002/asjc.1499
- Authors: Shaoming He; Wei Wang, Jiang Wang
- Robust control design of an air-breathing engine for a supersonic vehicle
using backstepping and UKF
- Authors: Arnab Maity; Radhakant Padhi
Abstract: This paper presents an efficient robust control design approach for an air-breathing engine for a supersonic vehicle using the Lyapunov stability theory based nonlinear backstepping control, augmented with unscented Kalman filter (UKF). The primary objective of the control design is to ensure that the thrust produced by the engine tracks the commanded thrust by regulating the fuel flow to the combustion chamber. Moreover, as the engine operates in a supersonic range, an important secondary objective is to manage the shock wave location in the intake for maximum pressure recovery with adequate safety margin by varying the throat area of the nozzle simultaneously. To estimate the states and parameters as well as to filter out the process and sensor noises, a UKF has been incorporated for robust output feedback control computation. Furthermore, independent control designs for the actuators have been carried out to assure satisfactory performance of the engine. Additionally, a guidance loop is designed to generate a typical flight trajectory of the representative vehicle using a nonlinear suboptimal input constrained model predictive static programming formulation for testing the performance of the engine. Simulation results clearly indicate quite successful robust performance of the engine during both climb and cruise phases.
PubDate: 2017-03-06T08:55:37.59831-05:0
DOI: 10.1002/asjc.1488
- Authors: Arnab Maity; Radhakant Padhi
- Adaptive Leader-Following Consensus for Uncertain Nonlinear Multi-Agent
- Authors: Xinglong Niu; Yungang Liu, Yongchao Man
Abstract: This paper is concerned with the adaptive leader-following consensus for first- and second-order uncertain nonlinear multi-agent systems (NMASs) with single- and double-integrator leader, respectively. Remarkably, the control coefficients of the followers need not belong to any known finite interval, which makes the systems in question essentially different from those in the related works. Moreover, parameterized unknowns exist in the nonlinearities of the followers, and unknown control input is imposed on the leader, which make the problems difficult to solve. To compensate for these uncertainties/unknowns, the leader-following consensus protocols are constructed by employing adaptive technique for the first-order and the second-order NMASs. Under the designed adaptive consensus protocols and the connected graph, the leader-following consensus is achieved. Finally, two examples are given to show the effectiveness of the proposed leader-following consensus protocols.
PubDate: 2017-03-02T08:45:57.892424-05:
DOI: 10.1002/asjc.1455
- Authors: Xinglong Niu; Yungang Liu, Yongchao Man
- A Packet Loss Tolerant Rendezvous Algorithm for Wireless Networked Robot
- Authors: Sabato Manfredi; Enrico Natalizio, Claudio Pascariello, Nicola Roberto Zema
Abstract: This paper studies the coordination problem for a wireless networked robot (WNR) system. The objective is to drive the robots to keep a desired formation through local exchange of information. Nevertheless, packet losses may occur during communications among robots, thus preventing the system to reach its specific target. Specifically, the effects of an unreliable channel on the WNR performance are analyzed by considering the simulation of a corrective consensus algorithm into a network simulator. The use of a packet-loss-tolerant protocol is suggested to cope with heavy communication disruption. Network Simulator (NS-3) simulation results validate the effectiveness of the proposed approach.
PubDate: 2017-02-24T09:10:50.250115-05:
DOI: 10.1002/asjc.1470
- Authors: Sabato Manfredi; Enrico Natalizio, Claudio Pascariello, Nicola Roberto Zema
- Statistical Analysis of Power System Sensitivity Under Random Penetration
of Photovoltaic Generation
- Authors: Yu Li; Masato Ishikawa
Abstract: In this paper, we aim to analyze the characteristics of feeder voltage variation in power systems due to random allocation of solar photovoltaic systems from a data-driven approach, search the dangerous photovoltaic system allocation patterns along a specific power system. We conducted the investigation on benchmark radial distribution circuits with a random integration of certain amount of photovoltaic systems. Severe voltage deviation occurs along the tail part of each circuit line, and the connecting nodes between feeder and lateral circuit lines tend to be vulnerable to the integration of photovoltaic systems. Different allocation patterns of photovoltaic systems resulted in a data set of voltage variation in the distribution system, k-Medoids clustering algorithm was proposed in this study to partition this data set into several clusters, which would contribute to the search of photovoltaic system allocation patterns with similar voltage deviation response.
PubDate: 2017-02-21T12:56:45.853911-05:
DOI: 10.1002/asjc.1483
- Authors: Yu Li; Masato Ishikawa
- A Sequential Algebraic Parametric Identification Approach for Nonlinear
Vibrating Mechanical Systems
- Authors: F. Beltran-Carbajal; G. Silva-Navarro, L. G. Trujillo-Franco
Abstract: A systematic on-line algebraic parametric identification method in time domain is proposed for active vibration control on nonlinear vibrating mechanical systems. The identification is performed iteratively, to reduce the computational effort of the parameter estimation process, for finite or infinite dimensional large flexible structures into an interest bandwidth. Position signals are only required to algebraically and quickly estimate the parameters of multiple degrees-of-freedom nonlinear vibrating mechanical systems. Then, an adaptive-like output feedback tracking dynamic control scheme is introduced to assess the efficiency and effectiveness of the closed-loop parameter estimation algorithms. Some simulation results are included to provide evidence of the efficient dynamic performance of the proposed parametric identification approach combined with asymptotic trajectory tracking control.
PubDate: 2017-02-21T12:56:38.155322-05:
DOI: 10.1002/asjc.1474
- Authors: F. Beltran-Carbajal; G. Silva-Navarro, L. G. Trujillo-Franco
- Variable Gain Output Feedback Control of A Networked Temperature Control
System Based on Online Delay Estimation
- Authors: Chhavi Suryendu; Sandip Ghosh, Bidyadhar Subudhi
Abstract: In this paper, a gradient descent method based delay estimator is proposed for use with a variable gain control strategy for networked control systems. The delay estimator is developed in such a way that its boundedness is ensured. The performance of the estimator with variable gain controller is evaluated on a temperature control plant with network in the feedback loop.
PubDate: 2017-02-21T12:56:26.929871-05:
DOI: 10.1002/asjc.1465
- Authors: Chhavi Suryendu; Sandip Ghosh, Bidyadhar Subudhi
- Almost Sure Practical Exponential Stability of Nonlinear Disturbed
Stochastic Systems with Guaranteed Decay Rate
- Authors: Asma Barbata; Michel Zasadzinski, Ridha Chatbouri, Harouna Souley Ali, Hassani Messaoud
Abstract: In this paper, we consider nonlinear stochastic differential equations driven by multiplicative noises and affected by exogenous disturbances. Sufficient conditions are investigated for almost sure practical exponential stability of the non trivial solutions of these equations. A lower bound of the decay rate of these solutions is guaranteed.
PubDate: 2017-02-17T09:10:44.498833-05:
DOI: 10.1002/asjc.1472
- Authors: Asma Barbata; Michel Zasadzinski, Ridha Chatbouri, Harouna Souley Ali, Hassani Messaoud
- Reachable Set Estimation for Discrete-Time Singular Systems
- Authors: Jiangrong Li; Zhiguang Feng, Changzhu Zhang
Abstract: This paper is concerned with the problem of reachable set estimation for discrete-time singular systems with bounded input disturbances. Based on the Lyapunov method, a new sufficient condition is established in terms of linear matrix inequality (LMI) to guarantee that the reachable set of discrete-time singular system is bounded by the intersection of ellipsoids. Then the result is extended to the problem for discrete-time singular systems with time-varying delay by utilizing the delay-dependent approach and free weighting matrices. Two numerical examples are provided to demonstrate the effectiveness of the obtained results proposed in this paper.
PubDate: 2017-02-17T09:05:33.721898-05:
DOI: 10.1002/asjc.1484
- Authors: Jiangrong Li; Zhiguang Feng, Changzhu Zhang
- Fractional Order PI-PD Control of Liquid Level in Coupled Two Tank System
and its Experimental Validation
- Authors: Prasanta Roy; Biprajeet Kar, Binoy Krishna Roy
Abstract: This paper presents a level control problem of a coupled two tank single input single output (SISO) system. A cascade control strategy is adopted having a fractional order proportional integral (FOPI) controller and fractional order proportional derivative (FOPD) controller in the outer and the inner loops, respectively. Cascaded integer order proportional integral (IOPI) and integer order proportional derivative (IOPD) controllers are also designed to compare the performances. A frequency domain approach is followed to design all the controllers. It is mathematically shown that the FOPI and FOPD controllers can achieve less steady state error and consume less energy than that of the IOPI and IOPD controllers while meeting the same phase margin and gain crossover frequency. All propositions are validated on an experimental setup.
PubDate: 2017-02-16T02:25:49.811047-05:
DOI: 10.1002/asjc.1487
- Authors: Prasanta Roy; Biprajeet Kar, Binoy Krishna Roy
- Intermittent and Successive ILC for Stochastic Nonlinear Systems with
Random Data Dropouts
- Authors: Dong Shen; Chao Zhang, Yun Xu
Abstract: The iterative learning control (ILC) problem is addressed in this paper for stochastic nonlinear systems with random data dropouts. The data dropout is modeled by the conventional Bernoulli random variable to describe the successful transmission or loss. Both intermittent and successive ILC are considered, where the former stops updating if no information is received, while the latter keeps updating based on the latest available data. It is strictly proved the almost sure convergence of both algorithms. The simulations on a mechanical model are provided to show the comparisons and effectiveness of the proposed algorithms.
PubDate: 2017-02-16T02:20:45.362037-05:
DOI: 10.1002/asjc.1480
- Authors: Dong Shen; Chao Zhang, Yun Xu
- Mixing Adaptive Fault Tolerant Control of Quadrotor UAV
- Authors: Kemal Büyükkabasakal; Barış Fi̇dan, Aydoğan Savran
Abstract: In this paper, a multiple model adaptive fault tolerant control scheme is proposed based on mixing of the control signals generated by a set of linear quadratic state feedback controllers. Each of these controllers are designed considering closed loop system performance for a particular range of fault. Stability analysis of the proposed scheme is provided. The paper further presents specific design and implementation for motion control of quadrotor unmanned aerial vehicles (UAVs). The designed mixing adaptive controller is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme.
PubDate: 2017-02-14T09:45:49.995546-05:
DOI: 10.1002/asjc.1479
- Authors: Kemal Büyükkabasakal; Barış Fi̇dan, Aydoğan Savran
- Finite-Time Consensus Problem for Second-Order Multi-Agent Systems Under
Switching Topologies
- Authors: Fang Wang; Xin Chen, Yong He, Min Wu
Abstract: This paper investigates the finite-time consensus problem for multi-agent systems with second-order individual dynamics under switching topologies. A distributed continuous-time protocol is designed to guarantee finite-time consensus for homogeneous agents without predetermined leaders, i.e., it ensures agents asymptotically converge to an average consensus within finite time, even if the interaction topology among them is time-varying but stepwise jointly-connected. In particular, it introduces a distributed continuous-time protocol to reach consensus in finite time and reduce the chattering together. Finally, the simulation results are also given to validate the proposed approach.
PubDate: 2017-02-14T09:20:33.754575-05:
DOI: 10.1002/asjc.1486
- Authors: Fang Wang; Xin Chen, Yong He, Min Wu
- Networked Iterative Learning Control Design for Nonlinear Systems with
Stochastic Output Packet Dropouts
- Authors: Jian Liu; Xiaoe Ruan
Abstract: This paper develops two proportional-type (P-type) networked iterative learning control (NILC) schemes for a class of discrete-time nonlinear systems whose stochastic output packet dropouts are modeled as 0-1 Bernoulli stochastic sequences. In constructing the NILC schemes, two kinds of compensation algorithm of the dropped outputs are given. One is to replace the instant-wise dropped output data with the synchronous desired output data; the other is to substitute the dropped data with the consensus-instant output data used at the previous iteration. By adopting the lifting technique, it is derived that under certain conditions the expectations of the tracking errors incurred by the proposed NILC schemes converge to zero along the iteration axis. Numerical experiments are carried out for validity and effectiveness.
PubDate: 2017-02-14T03:55:37.133475-05:
DOI: 10.1002/asjc.1457
- Authors: Jian Liu; Xiaoe Ruan
- Active Disturbance Rejection in Affine Nonlinear Systems Based on
Equivalent-Input-Disturbance Approach
- Authors: Fang Gao; Min Wu, Jinhua She, Weihua Cao
Abstract: This paper presents a disturbance rejection method for an affine nonlinear system. The control system is constructed based on the equivalent-input-disturbance (EID) approach. An affine nonlinear state observer is used to reconstruct the state of the affine nonlinear system and to estimate an EID. The well-known differential mean value theorem enables us to describe the closed-loop system in the state space as a linear-parameter-varying system. This makes it easy to derive sufficient conditions of global uniform ultimate boundedness in term of linear matrix inequalities (LMIs) by using a Lyapunov function and convexity theory. Controllers are designed based on the LMIs. A numerical example is used to illustrate the design of the control system. And a comparison between the EID-based control and the sliding-mode control demonstrates the effectiveness and advantages of the EID-based control method.
PubDate: 2017-02-10T12:10:56.859912-05:
DOI: 10.1002/asjc.1463
- Authors: Fang Gao; Min Wu, Jinhua She, Weihua Cao
- A New High-Order Adaptive Robust Control for Constraint Following of
Mechanical Systems
- Authors: Xiuye Wang; Han Zhao, Qinqin Sun, Ye-Hwa Chen
Abstract: A mechanical system is to follow a class of prescribed holonomic or nonholonomic constraints. The system contains time-varying bounded uncertainty. However, the bound is unknown. The objective is to design a control which renders constraint following. A new high-order adaptive robust control is proposed. The control guarantees uniform boundedness and uniform ultimate boundedness even in the presence of the uncertainty. Significant advantages of this new control are demonstrated both analytically and numerically. It is shown that the system performance, including the finite entering time, constraint-following error, and control magnitude, can be improved by tuning the control order.
PubDate: 2017-02-10T12:10:53.481128-05:
DOI: 10.1002/asjc.1478
- Authors: Xiuye Wang; Han Zhao, Qinqin Sun, Ye-Hwa Chen
- Slow Sampling Control of Singularly Perturbed Systems Subject to Actuator
Saturation and L2 Disturbance
- Authors: Lei Ma; Chenxiao Cai, Xiaoping Ma
Abstract: This paper is concerned with the slow sampling control problem for singularly perturbed systems with actuator saturation and L2 disturbance. Convex hull is utilized to deal with the actuator saturation. A sufficient condition is proposed such that the boundedness of all the state trajectories will be guaranteed for any singular perturbation parameter less than or equal to a predefined upper bound in the presence of L2 disturbance. Then, two convex optimization problems are formulated to estimate the capability of disturbance tolerance/rejection based on this condition. Finally, an example is presented to demonstrate the effectiveness of the main results of this paper.
PubDate: 2017-02-10T11:05:49.523376-05:
DOI: 10.1002/asjc.1482
- Authors: Lei Ma; Chenxiao Cai, Xiaoping Ma
- Optimal Modified Tracking Performance of Time-Delay Systems with Packet
Dropouts Constraint
- Authors: Xi-Sheng Zhan; Zhu-Jun Zhou, Jie Wu, Tao Han
Abstract: This paper investigates the optimal modified tracking performance of networked time-delay systems with packet dropout constraint. A novel modified tracking performance index of networked time-delay systems is proposed which prevents variations in the tracking error from leading to invalid data when there is no integrator in the plant. Some explicit expressions are obtained by using spectral decomposition. The obtained results show that the optimal modified tracking performance is related to the intrinsic properties of a given plant such as non-minimum phase (NMP) zeros, unstable poles and time-delay. Furthermore, the modified factor and packet dropout probability affect the optimal modified tracking performance of the networked time-delay systems. The optimal modified tracking performance with the channel input power constraint is obtained by searching through all stabilizing one-parameter compensators. Finally, the efficiency of the result is verified using some typical examples.
PubDate: 2017-02-08T09:25:40.137079-05:
DOI: 10.1002/asjc.1467
- Authors: Xi-Sheng Zhan; Zhu-Jun Zhou, Jie Wu, Tao Han
- Stochastic Point-to-Point Iterative Learning Control Based on Stochastic
- Authors: Yun Xu; Dong Shen, Xiao-Dong Zhang
Abstract: An iterative learning control algorithm with iteration decreasing gain is proposed for stochastic point-to-point tracking systems. The almost sure convergence and asymptotic properties of the proposed recursive algorithm are strictly proved. The selection of learning gain matrix is given. An illustrative example shows the effectiveness and asymptotic trajectory properties of the proposed approach.
PubDate: 2017-02-06T03:10:46.839145-05:
DOI: 10.1002/asjc.1481
- Authors: Yun Xu; Dong Shen, Xiao-Dong Zhang
- Adaptive Non-Linear Control of UPFC for Stability Enhancement in a
Multimachine Power System Operating with a DFIG Based Wind Farm
- Authors: S.K. Routray; R.K. Patnaik, P.K. Dash
Abstract: An instantaneous converter power based adaptive second order sliding mode control for the Unified Power Flow Controller (UPFC) in a multimachine power system penetrated with a doubly fed induction generator (DFIG) based wind farm is proposed in this paper. Instead of controlling the direct and quadrature-axis currents of the series voltage source converter (VSC) of the UPFC, the instantaneous active and reactive power outputs are used as control variables. This mode of control dispenses the unmodelled dynamics of the VSC phase-locked loop (PLL) system and produces a robust control for the active–reactive power, and DC voltage excursions. However, the PLL is used only to obtain the frequency component needed to generate the Pulse Width Modulation (PWM) signal. In comparison to the first order sliding surface, the second order sliding surface provides very good robustness features, finite reaching time, and chattering free sliding mode behavior. Further, the proposed controller gains of the UPFC are chosen in accordance with the various constraints imposed by the second order sliding mode approach to provide significantly superior and robust performance for a number of diverse operating conditions of the network in comparison to the conventional sliding mode controller.
PubDate: 2017-02-06T03:05:40.816164-05:
DOI: 10.1002/asjc.1473
- Authors: S.K. Routray; R.K. Patnaik, P.K. Dash
- Semi-Global Exquisite Disturbance Attenuation Control for Perturbed
Uncertain Nonlinear Systems
- Authors: Jun Yang; Chuanlin Zhang, Shihua Li, Xitong Niu
Abstract: Motivated by the design of disturbance observers with active elimination of the adverse effects caused by system uncertainties and disturbances, the problem of semi-global exquisite disturbance attenuation control for a class of perturbed nonlinear systems is investigated in this paper. A feedback domination technique is utilized to integrate with the disturbance observer design and then a general composite active anti-disturbance control law is proposed. With a recursive design procedure, the mismatched lumped disturbances are compensated in a novel step-by-step way while the non-vanishing nonlinearities are treated via a feedback domination approach, rather than utilizing the straightforward feedback linearization method. The closed-loop control performance and disturbance rejection ability now can be improved. A rigorous stability analysis assures the effectiveness of the proposed strategy. Numerical simulation results affirm the improved control and disturbance rejection performances with respect to several related existing results.
PubDate: 2017-02-06T03:01:09.058054-05:
DOI: 10.1002/asjc.1475
- Authors: Jun Yang; Chuanlin Zhang, Shihua Li, Xitong Niu
- Event-triggered PCS Based Trajectory Tracking Control of Systems with
- Authors: Chengcheng Song; Haoping Wang, Yang Tian, Nicolai Christov
Abstract: This paper is aimed at reducing network load for saving bandwidth by designing appropriate trigger signals that decide when the transmission should be done. An event-triggered piecewise continuous systems (PCS) based control for time-varying trajectory tracking is proposed. By designing the sensor system and controller system, the communication between them is reduced while still retaining a satisfactory closed-loop behavior of the whole system. The major idea behind a designed sensor system is the use of a Luenberger observer and planning of event-triggered mechanism (ETM). The main principle behind the designed controller system is the proposal of a new event-triggered PCS based controller. The development is motivated by consideration of variable network induced time delays. Tracking error is proved to be norm-bounded in both the original and developed case. Finally, to show the proposed method's performance, we present the simulation results for a mobile cart.
PubDate: 2017-02-01T07:15:52.567806-05:
DOI: 10.1002/asjc.1462
- Authors: Chengcheng Song; Haoping Wang, Yang Tian, Nicolai Christov
- Chattering Attenuation Sliding Mode Approach for Nonlinear Systems
- Authors: Hamidreza Nemati; Mai Bando, Shinji Hokamoto
Abstract: This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.
PubDate: 2017-02-01T07:15:44.085912-05:
DOI: 10.1002/asjc.1477
- Authors: Hamidreza Nemati; Mai Bando, Shinji Hokamoto
- Bayesian Sensor Fault Detection in a Markov Jump System
- Authors: Hamed Habibi; Ian Howard, Reza Habibi
Abstract: In this paper, the fault detection of a latent fault in a sensor for a Markov jump system is studied. It is equivalent to detecting a change point in a coefficient vector of a measurement equation in the state space representation of a system. Indeed, the fault detection procedure is evaluated as detecting this change point and the time that the change point has occurred. To this end, first, the recursive least square (RLS) filter is proposed and under Yao's Prior setting, the Bayesian fault detection algorithm is proposed. The Smith-Gelfand re-sampling method is applied to approximate the posterior distribution. The performance of the Bayesian method is studied under the null and alternative hypotheses. The delay in diagnosis of the fault is measured. To study the effect of the fault time point in the performance of the Bayesian method, the sensitivity analysis is studied. The probability of the fault is studied and the Martingale approach is used to obtain the lower and upper bounds for this probability. The fault detection in integrated systems is studied and a Kalman filter, as a parallel filter, is considered to estimate the state and the effect of the unknown coefficient jump on state estimation is also studied.
PubDate: 2017-02-01T07:08:06.272955-05:
DOI: 10.1002/asjc.1458
- Authors: Hamed Habibi; Ian Howard, Reza Habibi
- H∞ Preview Control of A Class of Uncertain Discrete-Time Systems
- Authors: Li Li; Fucheng Liao, Jiamei Deng
Abstract: This paper investigates the problem of H∞ preview tracking control with robust performance for uncertain discrete-time systems. In order to avoid applying the difference operator to the time-varying matrix, by taking advantage of the difference between the system state variables, input variables, and the corresponding auxiliary variables, instead of the usual difference between system states, an augmented error system including previewed information is constructed, which converts the tracking problem into a regulator problem. A sufficient condition based on the free-weighting matrices technique and the Lyapunov stability theory is derived for the robust asymptotic stability of uncertain systems. Moreover, a state feedback control law with preview action design method is obtained via the linear matrix inequality approach. Based on these, a state observer for preview control systems is formulated. Previewable reference signals are fully utilized through reformulation of the output equation while designing the state observer. The proposed construction method of augmented error system is applicable to uncertain discrete-time systems in which the uncertainties are general. Also an integrator is introduced to ensure the closed-loop system tracking performance with no static error. The numerical results also show the effectiveness of the preview control law for uncertain systems in the paper.
PubDate: 2017-01-27T05:21:00.315188-05:
DOI: 10.1002/asjc.1466
- Authors: Li Li; Fucheng Liao, Jiamei Deng
- Adaptive Impulsive Observers for a Class of Switched Nonlinear Systems
with Unknown Parameter
- Authors: Jinghan Li; Ruicheng Ma, Georgi M. Dimirovski
Abstract: This work investigates and solves the design of adaptive impulsive observers for a class of uncertain switched nonlinear systems with unknown parameter. Sufficient conditions are derived for designing such observers for each subsystem to reconstruct asymptotically and update system states in real time. The state observer is represented in terms of impulsive differential equations. The parameter estimation law is modelled by an impulse-free, time-varying differential equation associated with the impulse time sequence in order to determine when the observer estimated state is updated. The asymptotic convergence to zero of the observation errors is established by applying the method of multiple time-varying Lyapunov functions. Sufficient conditions are derived that guarantee the convergence of parameter estimation. An example of switched Lorenz system along with numeric and simulation results is presented to demonstrate the effectiveness of the proposed method.
PubDate: 2017-01-23T02:25:48.088156-05:
DOI: 10.1002/asjc.1464
- Authors: Jinghan Li; Ruicheng Ma, Georgi M. Dimirovski
- Pattern Recognition Based Dynamics Description of Production Processes in
Metric Spaces
- Authors: Mushu Wang; Zhengguang Xu, Lingli Guo
Abstract: A new type of modeling method is put forward based on pattern recognition (PR) technology for some industrial production processes. The proposed method is a pure data-driven modeling method since the model is independent of the controlled plant, and it is based on the measured input and output (I/O) data of the controlled plant in a closed loop. Different from the traditional modeling method, the system dynamics is described by I/O classes, which are obtained from raw I/O data through partitioning of the data space respectively and I/O orders of the model resort to the conditional entropy. The covering algorithm based pattern classification (PC) is used to establish the mapping between input and output of the proposed model in metric spaces. The experimental results illustrate the feasibility of the modeling method.
PubDate: 2017-01-20T13:40:36.578572-05:
DOI: 10.1002/asjc.1471
- Authors: Mushu Wang; Zhengguang Xu, Lingli Guo
- Output Feedback Robust MPC Based on Off-line Observer for LPV Systems via
Quadratic Boundedness
- Authors: Xubin Ping
Abstract: For the linear parameter varying (LPV) system with available scheduling parameter and bounded disturbance, a synthesis approach to output feedback robust model predictive control (OFRMPC) is considered. By applying the technique of quadratic boundedness, the on-line method with the refreshment of the bounds of estimation error guarantees the robust stability of the augmented closed-loop system. For reducing the on-line computational burden, the look-up table that stores off-line optimized control laws and the corresponding regions of attraction is constructed. The on-line control law is searched based on the bounds of estimation error set and the region of attraction with the closest containment of the real-time estimated state. A continuous stirred tank reactor (CSTR) model is given to illustrate the effectiveness of the method.
PubDate: 2017-01-20T13:30:37.222195-05:
DOI: 10.1002/asjc.1469
- Authors: Xubin Ping
- Weighted Pseudo Anti-Periodic Solutions for Cellular Neural Networks with
Mixed Delays
- Authors: Qiyuan Zhou
Abstract: A model of cellular neural networks with mixed delays is proposed. Applying contraction mapping fixed point theorem and differential inequality technique, several sufficient conditions are derived to ensure the existence and exponential stability of weighted pseudo anti-periodic solutions for the proposed neural networks. Finally, a numerical simulation example is given to illustrate the effectiveness of the obtained results.
PubDate: 2017-01-20T13:30:28.280442-05:
DOI: 10.1002/asjc.1468
- Authors: Qiyuan Zhou
- Approximation Optimal Vibration for Networked Nonlinear Vehicle Active
Suspension with Actuator Time Delay
- Authors: Shi-Yuan Han; Cheng-Hui Zhang, Gong-You Tang
Abstract: This paper is concerned with the modelling and vibration control problem for networked nonlinear vehicle active suspension (NNVAS) with actuator time delay. Inserting in-vehicle communication network to active suspension, a novel model for NNVAS is established based on the Takagi-Sugeno fuzzy fusion technology first. By introducing a transformation vector, NNVAS with actuator time delay is reformed as a delay-free nonlinear system. Then, an approximation optimal vibration controller (AOVC) is proposed by using an iterative algorithm, which consists of suspension state item, a road disturbance state item, and a compensated item for nonlinear response. Dependant on the control performance in each iteration, the computability of proposed AOVC is realized. A reduced-order observer is designed to solve the physical unrealizable problem of road disturbances. Finally, compared with the open-loop system and H∞ control scheme without network setting, the capability of improving control performance under AOVC is illustrated.
PubDate: 2017-01-20T13:25:34.969238-05:
DOI: 10.1002/asjc.1419
- Authors: Shi-Yuan Han; Cheng-Hui Zhang, Gong-You Tang
- Stable Delayed Bilateral Teleoperation of Mobile Manipulators
- Authors: Diego D. Santiago; Emanuel Slawiñski, Vicente A. Mut
Abstract: This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end effector velocity of the Mobile Manipulator, while system redundancy is used to achieve secondary control objectives. We considered variable asymmetric time delays as well as non-passive models of operator and environment. From this study, it is possible to infer the control parameters, depending on the time delay, in order to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through simulations of human-in-the-loop internet teleoperation.
PubDate: 2017-01-20T06:06:08.380029-05:
DOI: 10.1002/asjc.1461
- Authors: Diego D. Santiago; Emanuel Slawiñski, Vicente A. Mut
- ZD, ZG and IOL Controllers and Comparisons for Nonlinear System Output
Tracking with DBZ Problem Conquered in Different Relative-Degree Cases
- Authors: Jian Li; Mingzhi Mao, Yunong Zhang, Dechao Chen, Yonghua Yin
Abstract: This paper considers the output tracking control of general-form single-input single-output (SISO) nonlinear system, which may encounter the problem of division by zero (DBZ). First, via the Zhang dynamics (ZD) method, a ZD controller is proposed. Then, based on the ZD controller with the aid of gradient dynamics (GD) method, a Zhang-gradient (ZG) controller is proposed. For comparison, the conventional input-output linearization (IOL) controller is presented. The ZD, ZG and IOL controllers are compared in different relative-degree cases (i.e., the standard relative-degree case, the loose relative-degree case and the DBZ relative-degree case). Note that the ZG controller is valid in three relative-degree cases, while the ZD and IOL controllers are valid only in the standard relative-degree case and the loose relative-degree case. In addition, performances of ZD and ZG controllers are guaranteed via theoretical analyses and computer simulations for the output tracking of general-form nonlinear system with the DBZ problem conquered.
PubDate: 2017-01-13T10:00:53.393602-05:
DOI: 10.1002/asjc.1460
- Authors: Jian Li; Mingzhi Mao, Yunong Zhang, Dechao Chen, Yonghua Yin
- The Controllability of Fractional Damped Stochastic Integrodifferential
- Authors: T. Sathiyaraj; P. Balasubramaniam
Abstract: In this paper, the complete controllability is investigated for nonlinear fractional damped stochastic integrodifferential system in finite dimensional space. Using linear controllability theory, sufficient conditions ensuring complete controllability are derived based on controllability Grammian matrix which is defined by Mittag-Leffler matrix function and fixed-point techniques. Finally, two numerical examples are given to verify the proposed conditions.
PubDate: 2017-01-13T09:56:00.252852-05:
DOI: 10.1002/asjc.1453
- Authors: T. Sathiyaraj; P. Balasubramaniam
- NON-PDC Observer-Based T-S Fuzzy Tracking Controller Design and its
Application in CHAOS Control
- Authors: Mohammad Hassan Asemani; Ramin Vatankhah
Abstract: In many mechanical devices with chaotic behavior, stabilizing unstable periodic orbits (UPOs) of the system has positive effects in the lifetime and effectiveness of these devices. In this study, a new non-parallel distributed compensation (non-PDC) observer-based tracking controller is presented for Takagi–Sugeno fuzzy systems to control the chaotic behavior of such systems. Asymptotic stability synthesis of the closed-loop system is investigated using a fuzzy Lyapunov function to derive less conservative conditions than common quadratic Lyapunov function-based approaches. To tackle the main drawback of the fuzzy Lyapunov-based approaches, which assume some upper bounds on the derivatives of the fuzzy grade functions, we propose a new procedure by considering a constraint on the control signal. The new design conditions are given in the form of linear matrix inequalities (LMIs). The proposed control structure is applied to spinning disks in which chaos phenomena appear in lateral vibration. Simulation results are given to show the applicability of the proposed tracker to the UPO problem.
PubDate: 2017-01-12T03:11:00.512042-05:
DOI: 10.1002/asjc.1451
- Authors: Mohammad Hassan Asemani; Ramin Vatankhah
- Robust Stability and Stabilization Of TCP-Networked Control Systems with
Multiple Delay System Modeling
- Authors: Masoumeh Azadegan; Mohammad T. H. Beheshti
Abstract: This paper presents a new model for networked control systems (NCSs) under transmission control protocol (TCP) as a multiple-delay system by considering both sensor to controller and controller to actuator delays. An analytical TCP model has been considered for the network part, and an active queue management (AQM) controller is designed to regulate the desired queue length, which ensures holding the network induced delay and its variation within their lower bounds. The model is assumed to possess structured uncertainties due to the stochastic nature of the network. Robust stability and stabilization conditions are derived in terms of linear matrix inequalities (LMIs) by applying the Lyapunov-Krasovskii stability criterion. Illustrative examples are presented and it has been shown that the proposed method will obtain less conservative results compared to the existing approaches in the literature.
PubDate: 2017-01-12T03:06:15.908082-05:
DOI: 10.1002/asjc.1435
- Authors: Masoumeh Azadegan; Mohammad T. H. Beheshti
- Crossed Synchronization of Multiple Subnets Complex Network System with
Time-Varying Delay
- Authors: Zhou Bi-feng; Lou Yi-ping, Zhong Yao-xiang
Pages: 606 - 613
Abstract: A dual-time varying delay complex network system is formed by a plurality of sub-networks. This paper discusses the crossed synchronization stability of such systems on the basis of crossed synchronization definition between the sub-nets. By the Lyapunov stability theory with the Zero Theorem, we obtained a sufficient condition that a synchronization exponentially stable controller exists in the complex network system, with characteristic variable delay. The relationship between the complex network nodes are discussed, and the two nodes must be connected and can interact with each other so it has the actual coupling strength. Finally, combining the given conditions, a numerical simulation illustrates its effectiveness.
PubDate: 2017-01-06T04:45:29.151383-05:
DOI: 10.1002/asjc.1421
- Authors: Zhou Bi-feng; Lou Yi-ping, Zhong Yao-xiang
- Issue Information
- Pages: 820 - 820
Abstract: No abstract is available for this article.
PubDate: 2017-03-06T10:56:37.537837-05:
DOI: 10.1002/asjc.1404
- Pages: 820 - 820
- Issue Information
- PubDate: 2016-05-16T23:52:37.701778-05:
DOI: 10.1111/apaa.12081
- PubDate: 2016-05-16T23:52:37.701778-05:
- Foreword
- Authors: William H. Doelle
Pages: 5 - 6
PubDate: 2016-05-16T23:52:34.912876-05:
DOI: 10.1111/apaa.12082
- Authors: William H. Doelle
- 1 Archaeology of the Human Experience: An Introduction
- Authors: Michelle Hegmon
Pages: 7 - 21
Abstract: The Archaeology of the Human Experience (AHE) is concerned with understanding what it was like to live in the past, an endeavor that speaks to established archaeological traditions and to much broader audiences. AHE has four components: (1) Investigating the conditions of life; (2) Understanding how those conditions came to be; (3) Considering how those conditions are part of, and affect, the larger social and cultural context; and (4) Exploring the experience of those conditions. Many established methods can be used to investigate the first three; the fourth raises delicate questions about whether and how we can know others. Future work will continue to develop systematic measures that might shed light on how and why conditions worsen or improve in some cases.
PubDate: 2016-05-16T23:52:37.221869-05:
DOI: 10.1111/apaa.12071
- Authors: Michelle Hegmon
- 2 The Limits of Experience: Suffering, Nazi Forced Labor Camps, and
- Authors: Susan Pollock; Reinhard Bernbeck
Pages: 22 - 39
Abstract: As Adorno argued, one of the most fundamentally human experiences is suffering. However, a comparative archaeology of human experience that focuses on suffering raises troubling ethical issues. We draw on our excavations of World War II Nazi-run forced labor camps at the Tempelhof airfield in Berlin to demonstrate the need to confront suffering archaeologically and, at the same time, the ultimate impossibility of speaking for and about the suffering of others. We argue that thematizing the ambivalence of suffering and the material remains associated with it allows us to draw attention to this paradox and open a space that acknowledges the suffering of people in the past.
PubDate: 2016-05-16T23:52:34.407865-05:
DOI: 10.1111/apaa.12072
- Authors: Susan Pollock; Reinhard Bernbeck
- 3 The Variability of the Human Experience: Marginal People and the
Creation of Power
- Authors: Catherine M. Cameron
Pages: 40 - 53
Abstract: Archaeologists often characterize small scale societies as egalitarian and uniform. We tend to see the experiences of the people who made up these societies as similar. I argue instead that most small scale societies contained people of a variety of statuses, including those whose social position was marginal. I examine one such category of social person, captives, who were common in small scale societies worldwide. I suggest that their lives could be significantly different from those of other group members and that their presence, labor, and skills could create status and power for their captor and other group members.
PubDate: 2016-05-16T23:52:35.994775-05:
DOI: 10.1111/apaa.12073
- Authors: Catherine M. Cameron
- 4 Experiencing Social Change: Life during the Mimbres Classic
- Authors: Michelle Hegmon; Margaret C. Nelson, Karen Gust Schollmeyer
Pages: 54 - 73
Abstract: What was it like to live during a time of social transformation' To live during the culture changes and depopulation at the end of the Classic Mimbres period, ca. 1130 C.E.' As part of the Archaeology of the Human Experience we address these questions with an evidence-based account of what people did and how the changes affected their lives. Where possible and reasonable, we make people the subjects of our sentences. This approach leads to the conclusions that most changes—such as the end of a land tenure system—affected different people in different ways. The approach also raises questions about what happened to the artists when their artistic tradition ended.
PubDate: 2016-05-16T23:52:35.561585-05:
DOI: 10.1111/apaa.12074
- Authors: Michelle Hegmon; Margaret C. Nelson, Karen Gust Schollmeyer
- 5 Discourse and Human Securities in Tewa Origins
- Authors: Scott G. Ortman
Pages: 74 - 94
Abstract: For the Archaeology of Human Experience to have an impact on public policy, archaeologists need to identify what contemporary society values, determine the extent to which ancient societies provided these values, and examine what it was that enabled certain societies to provide them better than others. I develop a case study of this approach focusing on the famous "collapse" of Mesa Verde society and subsequent formation of ancestral Tewa society in the 13th century C.E. I translate the archaeological record into measures that reflect the United Nations Development Programme's dimensions of human security to show that ancestral Tewa society eventually met basic human needs better than Mesa Verde society had done. I also present archaeological, linguistic, and cultural evidence that argues the ultimate driver of enhanced security was conceptual change during the migration period. This example suggests ideas play important roles in structuring behavioral habits and thus long-term social outcomes.
PubDate: 2016-05-16T23:52:36.724264-05:
DOI: 10.1111/apaa.12075
- Authors: Scott G. Ortman
- 6 The Social Costs of Resilience: An Example from the Faroe Islands
- Authors: Seth D. Brewington
Pages: 95 - 105
Abstract: When viewed at the level of social-ecological system, the Faroe Islands are a model of long-term resilience and sustainable resource management. But what have been the costs of this system-level success in terms of human well-being' In this chapter I focus on two key components of well-being—food and environmental security—during the transformative 12th and 13th centuries. Though faced with a series of significant environmental and political challenges, medieval-period Faroese society appears to have adequately maintained food and environmental security, due in large part to a number of legal restrictions on access to key natural resources. The social costs of doing so were not benign, however, as these policies, while effective as conservation measures, disproportionately excluded those with the least socio-economic power.
PubDate: 2016-05-16T23:52:36.384123-05:
DOI: 10.1111/apaa.12076
- Authors: Seth D. Brewington
- 7 An Archaeology of Food Security in Banda, Ghana
- Authors: Amanda L. Logan
Pages: 106 - 119
Abstract: Food security is an all-inclusive concept, with a lack of access to sufficient food on one end of the spectrum and access to plentiful, desirable foods on the other. Archaeology's long-term perspective allows us to trace contexts in which food insecurity emerged by investigating the pillars of food security outlined by the World Health Organization (WHO): food availability, access, use, and preference. Using these criteria, I evaluate food security in Banda, Ghana from 1000 to 2009 C.E. by combining ethnographic, archaeological, archaeobotanical, and environmental data. These multiple lines of evidence demonstrate that while changing environmental conditions may have impacted the availability of staple crops during two periods of droughts in the past, a decrease in access to preferred foods occurred only recently in the 1890s.
PubDate: 2016-05-16T23:52:37.767307-05:
DOI: 10.1111/apaa.12077
- Authors: Amanda L. Logan
- 8 Who Benefits' Structural Change and Lived Experience in the Late
Prehispanic Andes
- Authors: Cathy Lynne Costin
Pages: 120 - 142
Abstract: In this chapter, I identify changes in the division of labor by age, gender, and class, evaluate the intensity of household production, and analyze shifting patterns of consumption to address how the Inka conquest of the Yanamarca Valley differentially affected women and men, children and adults, elites and commoners in Late pre-Hispanic Peru. Ethnohistoric and archaeological data indicate that the workload increased generally for all conquered peoples, while reordered systems of reward and recognition differentially affected distinct sectors of the population, altering social relations and gender ideology during this period of political and economic change.
PubDate: 2016-05-16T23:52:35.007088-05:
DOI: 10.1111/apaa.12078
- Authors: Cathy Lynne Costin
- 9 Social Inequality and Access to Services in Premodern Cities
- Authors: Timothy J. Dennehy; Benjamin W. Stanley, Michael E. Smith
Pages: 143 - 160
Abstract: We use spatial analytical methods to illuminate one aspect of the urban experience: equity of access to facilities that provide material, religious, and assembly services. We compare three cities known from archaeology (Teotihuacan, Tikal, and Empuries) and three historical cities (Bhaktapur, Chester, and Lamu). Some neighborhoods had better access to service facilities than others, pointing to ancient patterns of spatial inequality. Data on house size suggest that status also impacted service access. Greater travel time to service facilities negatively impacts the well-being of urban residents in two ways: it reduces access to key services, and it takes time away from other activities. Our methods for identifying these spatial patterns of inequality open a new window on the implications of social inequality for the premodern urban experience.
PubDate: 2016-05-16T23:52:33.912119-05:
DOI: 10.1111/apaa.12079
- Authors: Timothy J. Dennehy; Benjamin W. Stanley, Michael E. Smith
- 10 The Bioarchaeology of Pain and Suffering: Human Adaptation and Survival
during Troubled Times
- Authors: Debra L. Martin; Ryan P. Harrod
Pages: 161 - 174
Abstract: Ancient human remains can be analyzed with an eye toward clarifying the limits of human adaptation to many of life's hardships. Data collected from the remnants of skeletonized bodies provides information on the costs of living under trying times and the pain, suffering, and disability experienced. Focusing on the survivors of stressful conditions such as colonization, endemic warfare, climate change, or slavery provides a way to examine the experience of survival as well as the human costs of adapting to the environmental or political-economic processes creating the condition.
PubDate: 2016-05-16T23:52:38.167112-05:
DOI: 10.1111/apaa.12080
- Authors: Debra L. Martin; Ryan P. Harrod
- L2–Optimal Fopdt Models of High–Order Transfer Functions
- Authors: Daniele Casagrande; Wieslaw Krajewski, Umberto Viaro
Pages: 428 - 437
Abstract: Necessary conditions for the L2 optimality of a first order plus dead time (FOPDT) model of a high-order plant are derived using classic analytic function theory. They are expressed as a set of three nonlinear equations that partly resemble the interpolation conditions valid for rational approximation. From these conditions a simple procedure to find the optimal FOPDT model is obtained. Examples taken from the relevant literature are worked out to show the performance of the method in comparison with alternative techniques.
PubDate: 2016-07-20T10:01:07.878017-05:
DOI: 10.1002/asjc.1354
- Authors: Daniele Casagrande; Wieslaw Krajewski, Umberto Viaro
- Hysteresis-Based Design of Dynamic Reference Trajectories to Avoid
Saturation in Controlled Wind Turbines
- Authors: Christian Tutivén; Yolanda Vidal, Leonardo Acho, José Rodellar
Pages: 438 - 449
Abstract: The main objective of this paper is to design a dynamic reference trajectory based on hysteresis to avoid saturation in controlled wind turbines. Basically, the torque controller and pitch controller set-points are hysteretically manipulated to avoid saturation and drive the system with smooth dynamic changes. Simulation results obtained from a 5MW wind turbine benchmark model show that our proposed strategy has a clear added value with respect to the baseline controller (a well-known and accepted industrial wind turbine controller). Moreover, the proposed strategy has been tested in healthy conditions but also in the presence of a realistic fault where the baseline controller caused saturation to finally conduct to instability.
PubDate: 2016-10-04T08:25:36.840321-05:
DOI: 10.1002/asjc.1383
- Authors: Christian Tutivén; Yolanda Vidal, Leonardo Acho, José Rodellar
- Improved control performance of the 3-DoF aeroelastic wing section: a TP
model based 2D parametric control performance optimization
- Authors: Alexandra Szollosi; Peter Baranyi
Pages: 450 - 466
Abstract: Based on the most recent Tensor Product model transformation solutions, the paper presents an improved control performance for the most recent version of the three Degree of Freedom aeroelastic wing section model including Stribeck friction, according to signals pitch, plunge, trailing edge and control value, based on practical engineering criteria such as overshoot, undershoot, signal end values and settling time. This is achieved through proposing a novel two dimensional parametric convex hull manipulation based method for Tensor Product model transformation based Control Design Frameworks. The approach provides two TP model representations for the different requirements of the controller and observer of a given model, opening the possibility to utilize the TP model transformation's convex hull manipulation potential in control performance optimization for a separate optimization of the two TP model representations. Numerical simulation results are provided to illustrate the control performance improvements of the aeroelastic wing section model through the proposed 2D parametric convex hull manipulation based design method.
PubDate: 2016-12-07T08:25:56.287852-05:
DOI: 10.1002/asjc.1418
- Authors: Alexandra Szollosi; Peter Baranyi
- More Relaxed Non-Quadratic Stabilization Conditions Using Ts Open Loop
System and Control Law Properties
- Authors: Navid Vafamand; Mokhtar Shasadeghi
Pages: 467 - 481
Abstract: This paper proposes more relaxed stabilization conditions based on a non-quadratic Lyapunov function (NQLF) and parallel distributed compensator (PDC) controller. The conditions are derived in terms of linear matrix inequalities (LMIs) by introducing three slack matrices based on the properties of TS membership functions, an open loop system and a PDC controller. These slack matrices are utilized to decouple the LMI variables from the TS system and the input matrices. Therefore, the proposed approach greatly reduces the number of LMI conditions and improves feasibility by providing more degrees of freedom compared to recently published studies. Moreover, local stability and stabilization conditions are considered to handle the time derivatives of membership functions appearing in the stabilization synthesis of the TS closed-loop system with PDC controller. Finally, several examples are presented to demonstrate the advantages of the proposed approaches.
PubDate: 2016-12-21T04:50:48.209711-05:
DOI: 10.1002/asjc.1429
- Authors: Navid Vafamand; Mokhtar Shasadeghi
- Alignment Motion Control for an Automated Human Ear Surgery via
- Authors: Wenchao Gao; Wenyu Liang, Kok Kiong Tan
Pages: 482 - 493
Abstract: To treat a worldwide common ear disease called Otitis Media with Effusion, a robotic device allowing fast and automatic grommet tube insertion has been designed in our earlier works. However, the previous version has to be manually placed close to the tympanic membrane before the insertion procedures. For the purpose of realizing a fully automated surgical process, locating and realizing a suitable insertion path from outside the ear forms a crucial step. It is then desirable to control the working channel to be aligned to the axial direction of auditory canal from the vision channel. In this paper, a fast and robust vision-based servomechanism is proposed to achieve the planar alignment. To detect and track the region of auditory canal through the image sequences, an image segmentation algorithm based on the phase information and combining with the hough transformation technique is proposed. With the help of Kalman filter, a new look-and-move servomechanism can be achieved by utilizing the visual and motion measurements simultaneously, resulting in an effective and robust servoing performance.
PubDate: 2016-08-16T03:05:46.244006-05:
DOI: 10.1002/asjc.1356
- Authors: Wenchao Gao; Wenyu Liang, Kok Kiong Tan
- Stability of Local On-Ramp Metering Control Laws
- Authors: Luis Alvarez-Icaza; Oscar Rosas-Jaimes, María Elena Lárraga
Pages: 494 - 509
Abstract: A framework for stability analysis of local on-ramp metering control strategies based on the cell transmission model is presented. Within this framework, it is possible to formulate Lyapunov and input-state stability results for on-ramp metering control strategies in an open section of highway with on-ramps. Using this analysis, recommendations for the design of on-ramp metering control laws set points are derived. Two examples on the use of such analysis are presented. One deals with the stability analysis of a local on-ramp metering control law and the other with the design of a disturbance observer that, used in combination with the local on-ramp metering control law, provides a more robust response to traffic regulation. Simulation results are included that confirm the possibility of using this framework to test the impact of local on-ramp metering control strategies.
PubDate: 2016-08-11T09:05:30.077594-05:
DOI: 10.1002/asjc.1360
- Authors: Luis Alvarez-Icaza; Oscar Rosas-Jaimes, María Elena Lárraga
- Synchronization of General Linear Multi-Agent Systems With Measurement
- Authors: Wenhui Liu; Chunjie Yang, Feiqi Deng, Jiarong Liang
Pages: 510 - 520
Abstract: This paper studies the synchronization of general linear multi-agent systems with measurement noises in mean square. It shows that the conventional consensus protocol is efficient and robust to the additive and multiplicative measurement noises in mean square. For the additive measurement noises which are independent of the relative-states, it shows that the multi-agent systems can achieve synchronization in practical mean square. For the multiplicative measurement noises which are dependent of the relative-states, it shows that the multi-agent systems can achieve synchronization in (strict) mean square. Furthermore, the new consensus protocol is better than the conventional one at some specific situations, i.e., the multi-agent systems with additive measurement noises can also achieve synchronization in (strict) mean square. Numerical simulations are also provided and the results show highly consistent with the theoretical results.
PubDate: 2016-08-03T05:56:45.721463-05:
DOI: 10.1002/asjc.1357
- Authors: Wenhui Liu; Chunjie Yang, Feiqi Deng, Jiarong Liang
- Fractional Order Modeling And Nonlinear Fractional Order Pi-Type Control
For PMLSM System
- Authors: Bao Song; Shiqi Zheng, Xiaoqi Tang, Wenjun Qiao
Pages: 521 - 531
Abstract: In this paper, firstly a fractional order (FO) model is proposed for the speed control of a permanent magnet linear synchronous motor (PMLSM) servo system. To identify the parameters of the FO model, a practical modeling algorithm is presented. The algorithm is based on a pattern search method and its effectiveness is verified by real experimental results. Second, a new fractional order proportional integral type controller, that is, (PIμ)λ or FO[FOPI], is introduced. Then a tuning methodology is presented for the FO[FOPI] controller. In this tuning method, the controller is designed to satisfy four design specifications: stability requirement, specified gain crossover frequency, specified phase margin, flat phase constraint, and minimum integral absolute error. Both set point tracking and load disturbance rejection cases are considered. The advantages of the tuning method are that it fully considers the stability requirement and avoids solving a complex nonlinear optimization problem. Simulations are conducted to verify the effectiveness of the proposed FO[FOPI] controller over classical FOPI and FO[PI] controllers.
PubDate: 2016-07-22T08:01:22.5966-05:00
DOI: 10.1002/asjc.1353
- Authors: Bao Song; Shiqi Zheng, Xiaoqi Tang, Wenjun Qiao
- Observability and Controllability Analysis for Micro-Positioning Stage
Described by Sandwich Model with Hysteresis
- Authors: Na Luo; Yonghong Tan, Ruili Dong
Pages: 532 - 542
Abstract: In this paper, an approach for analyzing the observability and controllability of micro-positioning stage with piezoelectric actuator described by sandwich model with hysteresis is proposed. As hysteresis inherent in piezoelectric actuator is a non-smooth nonlinear function with multi-valued mapping, the positioning system is also a non-smooth dynamic system. The Prandtl-Ishlinksii (PI) submodel is employed to describe the characteristic of hysteresis embedded in the sandwich system. A linearization method based on non-smooth optimization is proposed to derive a generalized linearized state-space function to approximate the non-smooth sandwich systems within a bounded region around the equilibrium points the system works at. Then, both observability and controllability matrices are constructed and the methods to analyze the observability as well as the controllability of sandwich system with hysteresis are derived. Finally, a simulation example and an application of the proposed method to a micro-positioning stage with piezoactuator are presented to validate the proposed method.
PubDate: 2016-09-23T08:15:35.802514-05:
DOI: 10.1002/asjc.1367
- Authors: Na Luo; Yonghong Tan, Ruili Dong
- A Delay-Dependent Approach to Robust Fast Adaptive Fault Estimation Design
for Uncertain Neutral Systems with Time-Varying Interval Delay
- Authors: Fuqiang You; Hui Li, Fuli Wang, Shouping Guan
Pages: 543 - 553
Abstract: This paper studies the problem of robust fault estimation for neutral systems, which are subjected to uncertainties, actuator fault, time-varying interval delay, and norm-bounded external disturbance. Based on the fast adaptive fault estimation (FAFE) algorithm, we focus on the design of a fault estimation filter that guarantees stability in the filtering error system with a prescribed H∞ performance. A novel Lyapunov-Krasovskii functional is employed, which includes time delay information. A delay-dependent criterion of robust fault estimation design is obtained by employing the free-weighting matrices technique, and the proposed result has advantages over some existing results, in that it is less conservative and it enlarges the application scope. An improved sufficient condition for the existence of such a filter is proposed in terms of the linear matrix inequality (LMI) by the Schur complements and the cone complementary linearization algorithm. Finally, illustrative examples are provided to show the effectiveness of the proposed method.
PubDate: 2016-08-19T10:20:29.493596-05:
DOI: 10.1002/asjc.1363
- Authors: Fuqiang You; Hui Li, Fuli Wang, Shouping Guan
- An Efficient Finite Difference Method for The Time-Delay Optimal Control
Problems With Time-Varying Delay
- Authors: Amin Jajarmi; Mojtaba Hajipour
Pages: 554 - 563
Abstract: In this paper, an efficient finite difference method is presented for the solution of time-delay optimal control problems with time-varying delay in the state. By using the Pontryagin's maximum principle, the original time-delay optimal control problem is first transformed into a system of coupled two-point boundary value problems involving both delay and advance terms. Then the derived system is converted into a system of linear algebraic equations by using a second-order finite difference formula and a Hermite interpolation polynomial for the first-order derivatives and delay terms, respectively. The convergence analysis of the proposed approach is provided. The new scheme is also successful for the optimal control of time-delay systems affected by external persistent disturbances. Numerical examples are included to demonstrate the validity and applicability of the new technique. Some comparative results are included to illustrate the effectiveness of the proposed method.
PubDate: 2016-08-19T10:15:35.501466-05:
DOI: 10.1002/asjc.1371
- Authors: Amin Jajarmi; Mojtaba Hajipour
- Event-Based Semiglobal Consensus of Homogenous Linear Multi-Agent Systems
Subject to Input Saturation
- Authors: Bo Zhou; Xiaofeng Liao, Tingwen Huang, Huaqing Li, Guo Chen
Pages: 564 - 574
Abstract: In this paper, we consider the semiglobal leader-following consensus of general linear multi-agent systems subject to input saturation. First, an event-triggered control protocol is provided to ensure semiglobal consensus of the multi-agent systems, in which the agents should continuously monitor the information of their neighbors. Second, a self-triggered control protocol is proposed to guarantee the semiglobal consensus of the multi-agent systems, in which the agents only have access to the information of their neighbors in discrete time instants. Moreover, both event-triggered control protocol and self-triggered control protocol are proved to be Zeno-free, that is, the inter-event times for such two protocols have positive lower bounds. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed event-based semiglobal consensus protocols.
PubDate: 2016-08-24T02:05:35.144693-05:
DOI: 10.1002/asjc.1378
- Authors: Bo Zhou; Xiaofeng Liao, Tingwen Huang, Huaqing Li, Guo Chen
- Robust Finite-Time H∞ Control of a Class of Disturbed Systems using
Lmi-Based Approach
- Authors: Xiaoyu Zhang; Jihong Zhong, Quan Zhang, Kemao Ma
Pages: 575 - 586
Abstract: In this paper, the definition of robust finite-time H∞ control is presented for a class of disturbed systems. Time-varying norm-bounded exogenous disturbance is considered in the system. A state feedback controller is designed, via a Linear Matrix Inequalities (LMIs) approach, which ensures that the closed-loop system is finite-time bounded (FTB) and reduces the effect of the disturbance input on the controlled output to a prescribed level. The main result, derived by Lyapunov functions, is a sufficient condition for FTB of disturbed systems and the sufficient condition can be reduced to a feasibility problem involving LMIs. Then a DC motor position control problem is simulated as a demonstration for this study. Simulation results are presented to show the effectiveness of the proposed method as a promising approach for controlling similar disturbed systems.
PubDate: 2016-09-15T07:56:10.959639-05:
DOI: 10.1002/asjc.1381
- Authors: Xiaoyu Zhang; Jihong Zhong, Quan Zhang, Kemao Ma
- Smith Predictor Based Fractional-Order-Filter PID Controllers Design for
Long Time Delay Systems
- Authors: Maamar Bettayeb; Rachid Mansouri, Ubaid Al-Saggaf, Ibrahim Mustafa Mehedi
Pages: 587 - 598
Abstract: In this paper, an original model-based analytical method is developed to design a fractional order controller combined with a Smith predictor and a modified Smith predictor that yield control systems which are robust to changes in the process parameters. This method can be applied for integer order systems and for fractional order ones. Based on the Bode's ideal transfer function, the fractional order controllers are designed via the internal model control principle. The simulation results demonstrate the successful performance of the proposed method for controlling integer as well as fractional order linear stable systems with long time delay.
PubDate: 2016-09-13T04:21:26.321926-05:
DOI: 10.1002/asjc.1385
- Authors: Maamar Bettayeb; Rachid Mansouri, Ubaid Al-Saggaf, Ibrahim Mustafa Mehedi
- Output Feedback Control of Surge and Rotating Stall in Axial Compressors
- Authors: Hanlin Sheng; Wei Huang, Tianhong Zhang
Pages: 599 - 605
Abstract: Active control has been widely studied to expand the stable operating range of axial flow compressors in aero-engines.In this paper, a nonlinear active state feedback controller is proposed first based on bifurcation analysis results of MG model.Then by taking pressure ratio as output parameter, a state observer is designed to estimate the compressor's flow coefficient. An output feedback controller is thus established by combining the observer with the state feedback controller.Finally, digital simulation shows that the proposed output feedback controller not only eliminates the hysteresis loop associated with rotating stall and emergence of surge, but also extends the stable operating range of axial flow compressors effectively.Furthermore, being flexible in using pressure transducer and throttle valve as sensor and actuator respectively, which have been equipped in common engines, the proposed controller has good applicability.
PubDate: 2016-09-21T04:56:01.165003-05:
DOI: 10.1002/asjc.1384
- Authors: Hanlin Sheng; Wei Huang, Tianhong Zhang
- Distributed Consensus of Multi-Agent Networks Via Event-Triggered Pinning
- Authors: Dan Liu; Aihua Hu, Dan Zhao
Pages: 614 - 624
Abstract: This paper is concerned with distributed consensus between two multi-agent networks with the same topology structure. Considering one network as the leaders' network and the other one as the followers' network, a new event-triggered pinning control scheme is proposed to realize distributed consensus between these two networks. By utilizing the graph theory and Lyapunov functional method, consensus criteria are derived in the form of linear matrix inequalities. Moreover, distributed consensus of multi-agent networks with Lipschitz nonlinear dynamics is also discussed. Numerical simulations are provided to demonstrate the effectiveness of the theoretical analysis.
PubDate: 2016-09-15T08:10:43.453648-05:
DOI: 10.1002/asjc.1389
- Authors: Dan Liu; Aihua Hu, Dan Zhao
- Robust Output Feedback Controller Design for Time-Delayed Teleoperation:
Experimental Results
- Authors: I. Sharifi; H. A. Talebi, M. Motaharifar
Pages: 625 - 635
Abstract: In this paper, a robust output feedback control strategy is proposed for a nonlinear teleoperation system which can deal with stability as well as transparency despite the variable time-delay and uncertain dynamics. The proposed approach is composed of two steps. First, local Lyapunov based adaptive controllers are applied to both master and slave sides in order to suppress the nonlinearities in the system dynamics. Afterwards, a new observer-based controller scheme is proposed to achieve stability and performance (transparency) of the teleoperation system. Using the Lyapunov techniques, stability and performance objectives are cast as some linear matrix inequality (LMI) feasibility conditions. To evaluate the performance of the proposed controller, a set of simulations and experiments are performed. Through simulation results, it is demonstrated that the proposed approach significantly outperforms the existing methodologies reported in the literature.
PubDate: 2016-09-09T09:53:02.681743-05:
DOI: 10.1002/asjc.1387
- Authors: I. Sharifi; H. A. Talebi, M. Motaharifar
- Fault Diagnosis and Sliding Mode Fault Tolerant Control for Non-Gaussian
Stochastic Distribution Control Systems Using T-s Fuzzy Model
- Authors: Yao Lina; Lei Chunhui
Pages: 636 - 646
Abstract: For the non-Gaussian stochastic distribution control system using Takagi-Sugeno fuzzy model, a new fault diagnosis and sliding mode fault tolerant control algorithm is presented. First, a new adaptive fault diagnosis algorithm is adopted to diagnose the fault that occurred in the system, and the observation error system is proven to be uniformly bounded. Second, the sliding mode control algorithm is used to reconfigure the controller, based on the fault estimation information. The post-fault probability density function can still track the given distribution, leading to fault tolerant control of non-Gaussian stochastic distribution control systems using Takagi-Sugeno fuzzy model. Finally, simulation results show the effectiveness of the proposed method.
PubDate: 2016-10-04T08:10:59.151597-05:
DOI: 10.1002/asjc.1390
- Authors: Yao Lina; Lei Chunhui
- Performance Analysis of The Auxiliary-Model-Based Multi-Innovation
Stochastic Newton Recursive Algorithm for Dual-Rate Systems
- Authors: Pengfei Cao; Xionglin Luo
Pages: 647 - 658
Abstract: The stochastic Newton recursive algorithm is studied for dual-rate system identification. Owing to a lack of intersample measurements, the single-rate model cannot be identified directly. The auxiliary model technique is adopted to provide the intersample estimations to guarantee the recursion process continues. Intersample estimations have a great influence on the convergence of parameter estimations, and one-step innovation may lead to a large fluctuation or even divergence during the recursion. In the meantime, the sample covariance matrix may appear singular. The recursive process would cease for these reasons. In order to guarantee the recursion process and to also improve estimation accuracy, multi-innovation is utilized for correcting the parameter estimations. Combining the auxiliary model and multi-innovation theory, the auxiliary-model-based multi-innovation stochastic Newton recursive algorithm is proposed for time-invariant dual-rate systems. The consistency of this algorithm is analyzed in detail. The final simulations confirm the effectiveness of the proposed algorithm.
PubDate: 2016-10-18T02:11:10.325902-05:
DOI: 10.1002/asjc.1395
- Authors: Pengfei Cao; Xionglin Luo
- Non-Fragile Observer-Based ℋ∞ Control for Uncertain Neutral-Type
Systems via Sliding Mode Technique
- Authors: Zhen Liu; Cunchen Gao, Huimin Xiao, Yonggui Kao
Pages: 659 - 671
Abstract: This paper is concerned with the problem of observer-based ℋ∞ control for a class of uncertain neutral-type systems subjected to external disturbance by utilizing sliding mode technique. A novel sliding mode control (SMC) strategy is proposed based on the state estimate and the output. A new sufficient condition of robust asymptotic stability with ℋ∞ disturbance attenuation level for the overall systems composed of the original system and error system in the sliding mode is derived in terms of a linear matrix inequality (LMI). Then, a new adaptive controller is designed to guarantee the reachability of the predefined sliding surface in finite-time. Finally, numerical examples are provided to verify the effectiveness of the proposed method.
PubDate: 2016-10-11T02:00:41.114645-05:
DOI: 10.1002/asjc.1391
- Authors: Zhen Liu; Cunchen Gao, Huimin Xiao, Yonggui Kao
- L2-gain analysis and anti-windup design of switched linear systems subject
to input saturation
- Authors: Xinquan Zhang
Pages: 672 - 680
Abstract: The problem of L2-gain analysis and anti-windup compensation gains design is studied for a class of switched linear systems with actuator saturation via the multiple Lyapunov functions approach. When a set of anti-windup compensation gains are given, a sufficient condition on tolerable disturbances is obtained, under which the state trajectory starting from the origin will remain inside a bounded set. Then over this set of tolerable disturbances, we obtain the upper bound of the restricted L2-gain. Furthermore, the anti-windup compensation gains and the switched law, which aim to determine the maximum disturbance tolerance capability and the minimum upper bound of the restricted L2-gain, are presented by solving a convex optimization problem with linear matrix inequality (LMI) constraints. Finally we give a numerical example to demonstrate the effectiveness of the proposed method.
PubDate: 2016-10-03T02:11:09.118162-05:
DOI: 10.1002/asjc.1398
- Authors: Xinquan Zhang
- Event-Triggered Control for Couple-Group Multi-Agent Systems with
Logarithmic Quantizers and Communication Delays
- Authors: Mei Yu; Chuan Yan, Dongmei Xie
Pages: 681 - 691
Abstract: This paper mainly investigates the event-triggered control for couple-group multi-agent systems with communication delay. Logarithmic quantization is considered in the communication channels. Event-triggered control laws are adopted to reduce the frequency of individual actuation updating for discrete-time agent dynamics. The proposed protocol is efficient as long as the quantization levels are dense enough, i.e. the density of quantization levels goes to infinity is a sufficient condition for the asymptotic consensus of the multi-agent systems. It turns out that the bounded consensus depends on not only the density of quantization levels, but also the updating strategy of events. Finally, a simulation example is given to demonstrate the effectiveness of the proposed methods.
PubDate: 2016-12-26T23:35:33.316733-05:
DOI: 10.1002/asjc.1397
- Authors: Mei Yu; Chuan Yan, Dongmei Xie
- Modeling and Control Approach to Coupled Tanks Liquid Level System Based
on Function-Type Weight RBF-ARX Model
- Authors: Feng Zhou; Hui Peng, Xiaoyong Zeng, Xiaoying Tian, Jun Wu
Pages: 692 - 707
Abstract: A multi-input multi-output (MIMO) FWRBF-ARX model, which adopts radial basis function (RBF) neural networks with function-type weights (FWRBF) to approximate the coefficients of the state-dependent AutoRegressive model with eXogenous input variables (SD-ARX), is utilized for describing the dynamics of a coupled tanks liquid system. Based on local linearization information of the MIMO FWRBF-ARX model, a predictive control strategy is proposed. In the algorithm, the control actions of the model predictive control (MPC) are calculated based on the local linearization of the MIMO FWRBF-ARX model at current working point. Real-time control experiments are carried out on the coupled tanks liquid system. The detailed comparative experiments demonstrate the feasibility and effectiveness of the proposed modeling and model-based control strategy for the coupled tanks plant.
PubDate: 2016-10-18T03:31:00.108125-05:
DOI: 10.1002/asjc.1393
- Authors: Feng Zhou; Hui Peng, Xiaoyong Zeng, Xiaoying Tian, Jun Wu
- Delay-Dependent Stability Criterion for Discrete-Time Systems with
Time-Varying Delays
- Authors: Changchun Hua; Shuangshuang Wu, Zhenhua Bai, Xinping Guan
Pages: 708 - 716
Abstract: The stability analysis problem is considered for linear discrete-time systems with time-varying delays. A novel summation inequality is proposed, which takes the double summation information of the system state into consideration. The inequality relaxes the recently proposed discrete Wirtinger inequality and its improved version. Based on construction of a suitable Lyapunov-Krasovskii functional and the novel summation inequality, an improved delay-dependent stability criterion for asymptotic stability of the systems is derived in terms of linear matrix inequalities. Numerical examples are given to demonstrate the advantages of the proposed method.
PubDate: 2016-11-11T08:45:29.426015-05:
DOI: 10.1002/asjc.1409
- Authors: Changchun Hua; Shuangshuang Wu, Zhenhua Bai, Xinping Guan
- A Matrix Approach to the Analysis and Control of Networked Evolutionary
Games with Bankruptcy Mechanism
- Authors: Shihua Fu; Yuzhen Wang, Guodong Zhao
Pages: 717 - 727
Abstract: This paper investigates the evolutionary dynamic and control problem for a kind of networked evolutionary games with bankruptcy mechanism by using semi-tensor product of matrices, and presents a number of new results. First, this kind of games are expressed as logical dynamic networks and converted into their algebraic forms, based on which, the evolutionary dynamics of the given games can be discussed. Second, the control problem is considered, and a control sequence is designed to guarantee that none of players goes bankrupt as the control target requires. Finally, an illustrative example is given to show the effectiveness of our main results.
PubDate: 2016-11-04T10:36:03.395596-05:
DOI: 10.1002/asjc.1412
- Authors: Shihua Fu; Yuzhen Wang, Guodong Zhao
- Modal Kalman Filter
- Authors: Gh. Mohammaddadi; N. Pariz, A. Karimpour
Pages: 728 - 738
Abstract: In the Extended Kalman Filter (EKF), only the first-order term of the Taylor series is employed. Hence, the nonlinearities in the system dynamics are not fully considered. In the proposed method, to overcome this drawback, the higher-order terms of the Taylor series are considered and a new filter, based on the Modal series, is designed. In this paper, based on the Modal series and careful approximations, a nonlinear filter is converted to a series of linear filters, and the extracted filter is named the Modal Kalman Filter (MKF). The efficiency and advantage of MKF are analytically proven and its applicability examined with some simulations.
PubDate: 2016-12-28T21:10:31.601731-05:
DOI: 10.1002/asjc.1425
- Authors: Gh. Mohammaddadi; N. Pariz, A. Karimpour
- New Upper Matrix Bounds with Power Form for the Solution of the Continuous
Coupled Algebraic Riccati Matrix Equation
- Authors: Jianzhou Liu; Yanpei Wang, Juan Zhang
Pages: 739 - 747
Abstract: In this paper, using the structure and coefficient matrix of the continuous coupled algebraic Riccati matrix equation (CCARE), we firstly construct positive definite matrices with power form. Then, applying the variant of the CCARE and inequalities of positive definite matrices, utilizing the characteristics of special matrices and eigenvalue inequalities, we propose new upper matrix bounds with power form for the solution of the CCARE, which improve and extend some of the recent results. Finally, we give corresponding numerical examples to illustrate the effectiveness of the derived results.
PubDate: 2016-10-18T02:15:31.105688-05:
DOI: 10.1002/asjc.1400
- Authors: Jianzhou Liu; Yanpei Wang, Juan Zhang
- Vector-Based Adaptive Attitude Observer and Controller on Special
Orthogonal Group
- Authors: Xuhui Lu; Yingmin Jia, Fumitoshi Matsuno
Pages: 748 - 764
Abstract: An adaptive attitude observer-controller scheme is proposed for attitude tracking of a rigid body. In the derived observer, the vector measurements are directly utilized to estimate gyro bias, and thus estimates of gyro bias are obtained independent to attitude estimates. The proposed observer is even robust towards fluctuation of gyro bias. Then an adaptive controller is proposed on the Special Orthogonal Group to track the reference trajectory subject to uncertain inertia parameters. This controller belongs to the non-certainty-equivalent framework, and the vector signals are also utilized into estimation of inertia parameters. It is ensured that the estimates of inertia parameters can converge towards real values to some degrees. Simulation results compared with previous observer and controller schemes verify the effectiveness of the proposed scheme.
PubDate: 2016-10-24T02:10:38.225296-05:
DOI: 10.1002/asjc.1401
- Authors: Xuhui Lu; Yingmin Jia, Fumitoshi Matsuno
- Fault-Tolerant Finite Frequency H∞ Control for Uncertain Mechanical
System with Input Delay and Constraint
- Authors: Shidong Xu; Guanghui Sun, Weichao Sun
Pages: 765 - 780
Abstract: In this paper, a novel fault-tolerant finite frequency H∞ controller (FFHC) is developed for uncertain mechanical system with input delay and constraint. First, the mathematical model of uncertain mechanical system is derived, where the uncertainties occur in mass, damping and stiffness matrices, respectively. Then, in view of the fact that the dominant resonance energies are caused by low-order vibration modes of mechanical system, the finite frequency control algorithm is investigated to suppress these low-order resonances peaks. By virtue of Lyapunov-Krasovskii functional (LKF) and generalized Kalman-Yakubovich-Popov (GKYP) lemma, the desirable fault-tolerant controller can be obtained by convex optimization. Numerical simulations verify the improvements and advantages of proposed cotroller in disturbance rejection when compared with the classic entire frequency H∞ controller (EFHC).
PubDate: 2016-10-10T08:16:56.385324-05:
DOI: 10.1002/asjc.1399
- Authors: Shidong Xu; Guanghui Sun, Weichao Sun
- Iterative Path Integral Approach to Nonlinear Stochastic Optimal Control
Under Compound Poisson Noise
- Authors: Okumura Yuta; Kenji Kashima, Yoshito Ohta
Pages: 781 - 786
Abstract: Nonlinear stochastic optimal control theory has played an important role in many fields. In this theory, uncertainties of dynamics have usually been represented by Brownian motion, which is Gaussian white noise. However, there are many stochastic phenomena whose probability density has a long tail, which suggests the necessity to study the effect of non-Gaussianity. This paper employs Lévy processes, which cause outliers with a significantly higher probability than Brownian motion, to describe such uncertainties. In general, the optimal control law is obtained by solving the Hamilton–Jacobi–Bellman equation. This paper shows that the path-integral approach combined with the policy iteration method is efficiently applicable to solve the Hamilton–Jacobi–Bellman equation in the Lévy problem setting. Finally, numerical simulations illustrate the usefulness of this method.
PubDate: 2016-10-18T02:35:26.5417-05:00
DOI: 10.1002/asjc.1402
- Authors: Okumura Yuta; Kenji Kashima, Yoshito Ohta
- Exponential Stability for Multi-Area Power Systems with Time Delays Under
Load Frequency Controller Failures
- Authors: Xu Li; Rui Wang, Shu-Nan Wu, Georgi M. Dimirovski
Pages: 787 - 791
Abstract: This paper investigates the exponential stability problem for a class of multi-area power systems with time delays under load frequency controller failures (LFCFs). For describing the phenomenon of LFCFs, the considered multi-area power system is rewritten as a switched system with multiple time delays. By adopting the switching technique, the exponential stability conditions for multi-area power systems are developed when the controller failure frequency and the unavailability ratio of the controller are restricted. Finally, one example is given to show the applicability of the proposed method.
PubDate: 2016-08-24T02:10:34.36254-05:0
DOI: 10.1002/asjc.1373
- Authors: Xu Li; Rui Wang, Shu-Nan Wu, Georgi M. Dimirovski
- Homogeneous Control of Pneumatic Cylinders Based on Time Delay Model and
Artstein Transformation
- Authors: E. Edjekouane; S. Riachy, M. Ghanes, J.-P. Barbot
Pages: 792 - 798
Abstract: In this paper, an experimental second order model with time delay is considered in order to design a robust control of pneumatic cylinders. This model is derived by using the well known Strejc identification method. The design of the proposed homogeneous control law is synthesized thanks to Artstein transformation which allows to deal with the delay on the input. Real-time experimental tests and comparisons with some existing works are conducted to highlight the effectiveness of the proposed methodology.
PubDate: 2016-09-07T08:25:36.316924-05:
DOI: 10.1002/asjc.1374
- Authors: E. Edjekouane; S. Riachy, M. Ghanes, J.-P. Barbot
- A Robust Fault Estimation Scheme for a Class of Nonlinear Systems
- Authors: W. S. Chua; C. P. Tan, M. Aldeen, S. Saha
Pages: 799 - 804
Abstract: This paper presents an observer-based robust fault estimation scheme for a class of nonlinear systems. We consider the system where the fault enters both the state and output equations via unmeasurable nonlinear functions, for which currently no fault estimation scheme exists. The proposed scheme exploits the special structures and information embedded in the fault-dependent nonlinear functions. We propose a design method to minimize the ℒ2 gain from the disturbances to the fault estimation, and provide conditions for the existence of such observers. The effectiveness of this scheme is demonstrated on a nonlinear single-link flexible joint robot system with disturbances.
PubDate: 2016-09-05T02:40:53.236617-05:
DOI: 10.1002/asjc.1366
- Authors: W. S. Chua; C. P. Tan, M. Aldeen, S. Saha
- Algebraic Connectivity Estimation Based on Decentralized Inverse Power
- Authors: Yue Wei; Hao Fang, Jie Chen, Bin Xin
Pages: 805 - 812
Abstract: In this work, we propose a new scheme to estimate the algebraic connectivity of the graph describing the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The main idea is to propose a new decentralized conjugate gradient algorithm and a decentralized compound inverse power iteration scheme. The matrix inversion computation in this scheme is replaced by solving the non-homogeneous linear equations relying on the proposed decentralized conjugate gradient algorithm. With this scheme, we can achieve a fast convergence rate in estimating the algebraic connectivity by setting the parameter μ properly. Simulation results demonstrate the effectiveness of the proposed scheme.
PubDate: 2016-09-27T05:45:42.297785-05:
DOI: 10.1002/asjc.1388
- Authors: Yue Wei; Hao Fang, Jie Chen, Bin Xin
- Particle Smoother for Nonlinear Systems With One-Step Randomly Delayed
- Authors: Huang Yu-Long; Zhang Yong-Gang
Pages: 813 - 819
Abstract: In this paper, a new particle smoother based on forward filtering backward simulation is developed to solve the nonlinear and non-Gaussian smoothing problem when measurements are randomly delayed by one sampling time. The heart of the proposed particle smoother is computation of delayed posterior filtering density based on stochastic sampling approach, whose particles and corresponding weights are updated in Bayesian estimation framework by considering the one-step randomly delayed measurement model. The superior performance of the proposed particle smoother as compared with existing methods is illustrated in a numerical example concerning univariate non-stationary growth model.
PubDate: 2016-10-11T02:00:33.662479-05:
DOI: 10.1002/asjc.1394
- Authors: Huang Yu-Long; Zhang Yong-Gang