刘允刚
控制理论与系统科学
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- 姓名:刘允刚
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学术头衔:
博士生导师, 教育部“新世纪优秀人才支持计划”入选者
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学科领域:
控制理论
- 研究兴趣:控制理论与系统科学
刘允刚,男,1970.2 出生,博士,教授,博士生导师,山东省自动化学会委员。
所属学科:控制理论与控制工程。研究方向:控制理论与系统科学。
主要学习与工作经历:1.04-03~04-08 访问学者 香港中文大学 自动化与计算机辅助设计工程系;2.03-04~今 教授 山东大学 控制科学与工程学院;3.01-03~03-04 博士后 中国科学院 数学与系统科学研究院 系统科学研究所;4.97-05~00-06 博士生 上海交通大学 自动化系。
近年来完成的研究项目:参与国家杰出青年基金、科技部重大基础研究前期专项、国家自然科学基金等多项。
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成果数
12
刘允刚, YUN-GANG LIU† AND JI-FENG ZHANG‡
SIAM J. CONTROL OPTIM. Vol. 45, No.3, pp. 885-926,-0001,():
-1年11月30日
This paper addresses the design problem of practical (or satisfaction) output-feedback controls for stochastic strict-feedback nonlinear systems in observer canonical form with stable zerodynamics under long-term average tracking risk-sensitive cost criteria. The cost function adopted here is of the quadratic-integral type usually encountered in practice, rather than the quartic-integral one used to avoid difficulty in control design and performance analysis of the closed-loop system. A sequence of coordinate diffeomorphisms is introduced to separate the zero-dynamics from the entire system, so that the transformed system has an appropriate form suitable for integrator backstepping design. For any given risk-sensitivity parameter and desired cost value, by using the integrator backstepping methodology, an output-feedback control is constructively designed such that (a) the closed-loop system is bounded in probability and (b) the long-term average risk-sensitive cost is upper bounded by the desired value. In addition, this paper does not require the uniform boundedness of the gain functions of the system noise. Furthermore, an example is given to show the effectiveness of the theory.
nonlinear system,, stochastic system,, integrator backstepping methodology,, risksensitive control,, output-feedback control,, zero dynamics
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【期刊论文】Reduced-order observer-based control design for nonlinear stochastic systems☆
刘允刚, Yun-Gang Liua;b, Ji-Feng Zhanga;∗
Systems & Control Letters 52(2004)123-135,-0001,():
-1年11月30日
In this paper, we investigate the stabilization control design problem of nonlinear stochastic SISO systems in strictfeedback form. By introducing a novel reduced-order observer, an output-feedback-based control is constructively designed, which renders the closed-loop system asymptotically stable in the large when the nonlinearities and stochastic disturbance equal zero at the equilibrium point of the open-loop system, and bounded in probability, otherwise. Besides, the obtained controller preserves the equilibrium point of the open-loop nonlinear system.
Nonlinear system, Stochastic system, Reduced-order observer, Integrator backstepping, Stabilization control
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刘允刚, LIU Yungang, & ZHANG Jifeng
Ser. F Information Sciences 2004 Vol.47 No.4 527-544,-0001,():
-1年11月30日
A minimal-order observer and output-feedback stabilization control are given for single-input multi-output stochastic nonlinear systems with unobservable states, unmodelled dynamics and stochastic disturbances. Based on the observer designed, the estimates of all observable states of the system are given, and the convergence of the estimation errors are analyzed. In addition, by using the integrator backstepping approach, an output-feedback stabilization control is constructively designed, and suf cient conditions are obtained under which the closed-loop system is asymptotically stable in the large or bounded in probability, respectively.
nonlinear systems,, minimal-order,, integrator backstepping approach,, stabilization control.,
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刘允刚, Yungang Liu, Zigang Pan, and Songjiao Shi
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 48, NO.3, MARCH 2003,-0001,():
-1年11月30日
In this note, we study the problem of output-feedback control design for a class of strict feedback stochastic nonlinear systems. Under an infinite-horizon risk-sensitive cost criterion, the controller designed can guarantee an arbitrary small long-term average cost for arbitrary risk-sensitivity parameter and achieve boundedness in probability for the closed-loop system, using the integrator backstepping methodology. Furthermore, the controller preserves the equilibrium at the origin of the nonlinear system.
Bounded in probability,, integrator backstepping,, risk-sensitive control,, strict-feedback stochastic nonlinear systems.,
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刘允刚, LIU Yungang, ZHANG Jifeng & PAN Zigang
Vol. 46 No.2 SCIENCE IN CHINA (Series F) April 2001,-0001,():
-1年11月30日
In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated. The index function adopted here is of quadratic form usually encountered in practice, rather than of quartic one used to beg the essential difficulty on controller design and performance analysis of the closed-loop systems. For any given risk-sensitive parameter and desired index value, by using the integrator backstepping method, an output feedback control is constructively designed so that the closed-loop system is bounded in probability and the risk-sensitive index is upper bounded by the desired value.
integrator backstepping,, nonlinear system,, stochastic disturbance,, risk-sensitive index,, output feedback.,
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刘允刚, PAN Zigang, LIU Yungang & SHI Songjiao
Vol. 44 No.4 SCIENCE IN CHINA (Series F) August 2001,-0001,():
-1年11月30日
In this paper, we study the problem of output feedback stabilization for stochastic nonlinear systems. We consider a class of stochastic nonlinear systems in observer canonical form with stable zero-dynamics. We introduce a sequence of state transformations that transform the system into a lower triangular structure that is amenable for integrator backstepping design. Then we design the output-feedback controller and prove that the closed-loop system is bounded in probability. Furthermore, when the disturbance vector field vanishes at the origin, the closed-loop system is asymptotically stable in the large. With special care, the controller preserves the equilibrium of the nonlinear system. An example is included to illustrate the theoretical findings.
observer canonical form,, integrator backstepping,, zero dynamics,, asymptotic stability in the large.,
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【期刊论文】随机非线性系统的最小阶状态观测器及输出反馈镇定控制设计*
刘允刚, , 张纪峰**
中国科学(E辑)信息科学,2004,34(4):416~432,-0001,():
-1年11月30日
对一类具有不可观测状态、未建模动态特性和随机干扰的单输入多输出随机非线性系统,给出了最小阶状态观测器和输出反馈镇定控制器的设计方法。基于所设计的最小阶状态观测器,给出了系统全部状态的估计,分析了状态估计误差的收敛性。进一步,结合Back-Stepping法,构造性地设计出了输出反馈镇定控制,给出了闭环系统全局渐近稳定和概率意义下有界稳定的充分条件。
非线性系统 随机系统 最小阶观测器 积分反推法 镇定控制
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【期刊论文】随机非线性系统二次跟踪型风险灵敏度指标下的满意输出反馈控制设计*
刘允刚, 张纪峰**, 潘子刚
中国科学(E辑),2003,33(8):715~732,-0001,():
-1年11月30日
在无限时区跟踪型风险灵敏度(risk-sensmve)指标下,研究了一类严格反馈随机非线性系统的满意输出反馈控制问题。所用指标函数为实际中常见的二次型函数,而非为回避控制器设计及闭环系统性能分析的本质困难而采用的四次型函数。对任意给定的风险灵敏度参数和期望指标值,利用积分反推(integratorbackstepping)方法构造性地给出了一个输出反馈控制器,使得闭环系统在概率意义下有界,并且风险灵敏度指标不大于所给的期望值。
积分反推 非线性系统 随机噪声 风险灵敏度指标 输出反馈
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刘允刚, 潘子刚, 刘允刚**, 施颂椒
中国科学(E辑),2002,32(4):561~576,-0001,():
-1年11月30日
考虑了一类具有稳定零动态观测器特征型随机非线性系统的输出反馈镇定问题应用一系列的状态变换,将系统转化为下三角结构以便于应用积分反推设计方法设计控制器设计了输出反馈控制器,证明了闭环系统的概率意义下的有界性当扰动向量场在原点处消逝时,闭环系统为概率意义下渐近稳定此控制器还满足非线性系统的平衡条件。
观测器特征型 积分反推方法 零动态 概率意义下渐近稳定
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【期刊论文】严格反馈随机非线性系统风险灵敏度输出反馈控制器设计1)
刘允刚, 潘子刚, 施颂椒, 戴立言
自动化学报,2002,28(3):391~400,-0001,():
-1年11月30日
研究了一类严格反馈随机非线性系统的输出反馈设计问题。在无限时区风险灵敏度指标下,应用积分反推(integratorbackstepping)技术,设计了控制器。所设计的控制器能够保障对任意风险灵敏度系数具有任意小的指标,并且闭环系统为概率意义下有界的。特别地,所设计的控制器还能保证控制器的平衡条件。仿真例子验证了理论结果的正确性。
积分反推,, 严格反馈随机非线性系统,, 风险灵敏度控制,, 概率意义下有界
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