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Robust Stability Analysis of an Uncertain Nonlinear Networked Control System Category
Minrui Fei,Jun Yi,Huosheng Hu 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.2
In the networked control system (NCS), the uncertain network-induced delay and nonlinear controlled object are the main problems, because they can degrade the performance of the control system and even destabilize it. In this paper, a class of uncertain and nonlinear networked control systems is discussed and its sufficient condition for the robust asymptotic stability is presented. Further, the maximum network-induced delay that insures the system stability is obtained. The Lyapunov and LMI theorems are employed to investigate the problem. The result of an illustrative example shows that the robust stability analysis is sufficient.
Motion Planning of Robot Manipulator Based on Improved NSGA-II
Ying Huang,Minrui Fei 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
In this paper, the trajectory of a robot manipulator is planned using the non-dominated sorting genetic algorithm II (NSGA-II). Moreover, consumed time, Cartesian trajectory length, and smooth movement are used as the multi-objective to be optimized [1, 2]. The Pareto optimal solution set is obtained through NSGA-II, and simulation is used to obtain and verify the results. In an actual engineering case, the optimal solution of the Pareto solution set can be selected as the optimal path of a robot manipulator. Results show that the relationship between consumed time and joint jerk is a priority solution to practical engineering selection. Moreover, the spatial distribution of the optimal solution set is improved by enhancing the proposed crowding distance mechanism in the conventional NSGA-II algorithm.
Nonparametric Identification of Linear Dynamic Output-errors Systems
Qing Sun,Siting Zou,Dajun Du,Minrui Fei 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.12
This paper deals with the nonparametric identification of linear dynamic systems within an output-error framework. In the system, the input is an arbitrate signal cover a broad enough frequency band, while the output is disturbed by a filtered white noise with unknown variance. Since the full maximum likelihood method used in the frequency domain causes calculation complexity, this paper develops a nonparametric method to cope with the complexity. According to the property that the frequency response function and the system leakage term can be locally approximated very well via a low-order degree polynomial, a frequency domain estimator is developed, which can obtain the estimates for the frequency response function and the output noise variance. Finally, the parameters identification results for one real model can validate the effectiveness of the new proposed nonparametric method.
Min Zheng,Hainan Yang,Yang Song,Jing Deng,Minrui Fei 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.3
This paper is concerned with stability analysis of sampled-data systems with non-uniform sampling patterns. The stability problem is solved based on an augmented looped Lyapunov functional with Wirtinger inequality approach. The effectiveness of this approach depends on proper selecting looped Lyapunov functional parts and less conservative inequality techniques. The method developed here is an extension of previous results by using novel augmented functional and Wirtinger inequality. Numerical examples are given to illustrate the result.