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检索条件"任意字段=7th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2018"

共 474 条记录，以下是371-380 订阅

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Robust Repetitive learning control of Lower Limb Exoskeleton with Hybrid Electro-hydraulic System

Robust Repetitive Learning Control of Lower Limb Exoskeleton...

引用

ieee data driven control and learning systems conference

作者： Yong Yang Deqing Huang Xiucheng Dong School of Electrical Engineering and Electronic Information Xihua University Chengdu 610039 P. R. China Institute of Systems Science and Technology Southwest Jiaotong University Chengdu 610031 P. R. China

ISBN: (纸本)9781538626191

In this paper, robust repetitive learning control for lower limb exoskeleton, CASWELL-II, is addressed. A hybrid electro-hydraulic system which consists of unidirectional servo valve and magnetic valve is presented to driven the exoskeleton leg. First, a full state space model of CASWELL-II is worked out by combining both the rigid body and hybrid electro-hydraulic actuators dynamics. Secondly, a robust repetitive learning controller is presented to perform the periodic tracking task of the hybrid electro-hydraulic actuators via backstepping design, and the stability of the closed-loop system is proved by Lyapunov method. Finally, the controller is realized and tested on CASWELL-II by experiment.

关键词： CASWELL-II Lower limb exoskeleton Robust repetitive learning control Hybrid electro-hydraulic system

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Network-based Iterative learning control Approaches with Communication Delay Adjustment Factors for LTI systems

Network-based Iterative Learning Control Approaches with Com...

引用

data driven control and learning systems (ddcls)

作者： Jian Liu Xiaoe Ruan Center for Complex Systems Xidian University China Department of Applied Mathematics Xian Jiaotong University China

ISBN: (纸本)9781538626191

the paper develops two novel network-based iterative learning control approaches with communication delay adjustment factors for SISO LTI systems. Suppose that communication delay is subject to 0-1 Bernoulli distribution. In these two approaches, the actual system input is synchronous at the previous iteration if the system input is delayed at the current iteration, otherwise it is a linear combination of the synchronous system inputs at the current and previous iterations, where the coefficients are dependent upon the input communication delay probability. Two strategies are given for the output signals used by the ILC unit. One is the same as that for the actual system input; as for the other one, the actually utilized output is the synchronous desired output if the system output is delayed, otherwise it is a linear combination of the synchronous system output at the current iteration and the synchronous desired output, where the coefficients are dependent upon the output communication delay probability. It is shown that the expectation of the system output is convergent to the desired output under certain conditions. Finally, we use an example to illustrate the effectiveness of the developed NILC approaches.

关键词： Delays Iterative learning control Linear systems Discrete-time systems Trajectory Electronic mail

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Design and Analysis of Adaptive Iterative learning control for Iteration-varying Nonlinear systems

Design and Analysis of Adaptive Iterative Learning Control f...

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data driven control and learning systems (ddcls)

作者： Chiang-Ju Chien Ying-Chung Wang Feng-Li Lian Department of Electronic Engineering Huafan University New Taipei City Taiwan Department of Electrical Engineering National Taiwan University Taipei City Taiwan

ISBN: (纸本)9781538626191

Design of iterative learning controller for continuous-time nonlinear systems with iteration-varying uncertainties is studied in this paper. the iteration-varying uncertainties include initial resetting tracking error, iteration-varying external disturbance, iteration-varying desired trajectory and iteration-varying system parameters. the iteration-varying uncertainties are not required to take any special structure and the uncertain bounds are not necessarily small. All the iteration-varying uncertainties are compensated by an adaptive iterative learning controller with a projection-type adaptive law. We show that the system output can converge to the desired one as close as possible after suitable numbers of learning trials. Compared with the existing papers studying the similar problems, this approach can be used to solve the iterative learning control issue with more general class of nonlinear uncertain systems and achieve better learning performance.

关键词： Uncertainty Nonlinear systems Iterative learning control Trajectory Urban areas Electronic mail

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A Novel data-driven Filtering Algorithm for a Class of Discrete-Time Nonlinear systems

A Novel Data-Driven Filtering Algorithm for a Class of Discr...

引用

data driven control and learning systems (ddcls)

作者： Lingling Fan Zhongsheng Hou Rongmin Cao Honghai Ji School of Automation Beijing Information Science & Technology University Beijing China School of Electronics & Information Engineering Beijing Jiaotong University Beijing China College of Electronics & Control Engineering North China University of Technology Beijing China

ISBN: (纸本)9781538626191

data-driven filtering technique has immense potential and gained significant attention lately. this paper investigates a novel data-driven filtering algorithm based on a new dynamic linearization technique in the framework of Kalman Filter for a class of discrete-time nonlinear systems. Compared with the conventional nonlinear filtering algorithms, such as Extended Kalman Filter (EKF) or Unscented Kalman Filter (UKF), the proposed data-driven filtering (DDF) method can not only be applied for nonlinear systems without precise mathematical model or linearization approximation, but also be designed by merely utilizing the I/O measurement data of the plant. the theoretical analysis shows that the proposed approach guarantees uniform ultimate boundedness of the filtering errors. the comparison numerical simulation results verify the effectiveness of the proposed approach.

关键词： Kalman filters Power system dynamics Mathematical model Heuristic algorithms Nonlinear systems State estimation

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Dual-Channel Event-Triggered Output Feedback control for Linear System with Unavailable States

Dual-Channel Event-Triggered Output Feedback Control for Lin...

引用

data driven control and learning systems (ddcls)

作者： Chaoqun Tan Fei Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi China

ISBN: (纸本)9781538626191

In this technical note, the problem of event-triggered output-feedback control is considered for a linear system whose states are unavailable or partial available. In order to realize the reduction of communication in both the sensor to controller(S-C) and the controller to actuator(C-A) channels, a piecewise linear model is introduced, by which the communication in dual channels can be simultaneously considered. For S-C channel, the event-triggered strategy based on the observer is applied. For C-A channel, classical fixed threshold, relative threshold strategy and switching threshold strategy which combines the benefits of the first two mechanisms are discussed respectively. It is shown that the proposed event-triggered scheme can realize the reduction of communication while guaranteeing the stability of the system. the simulation results also confirm the superiority of switching threshold strategy.

关键词： Observers Switches Stability analysis Linear systems Time measurement Networked control systems

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Vector control of Semi-Submerged Ship Dynamic Positioning Based on Model-Free Adaptive Sliding Mode

Vector Control of Semi-Submerged Ship Dynamic Positioning Ba...

引用

data driven control and learning systems (ddcls)

作者： Wenlong Yao Jiali Wang Ronghu Chi School of Automation and Electrical Engineering Qingdao University of Science and Technology Qingdao China

ISBN: (纸本)9781538626191

the model-free adaptive sliding mode vector control of propulsion motor is proposed for the semi-submerged ship dynamic positioning system for the problem of dynamic positioning propulsion motor control system with uncertain dynamics and load variations during rough sea conditions. the dynamic linear equation of dynamic positioning propulsion motor is derived. the convergence of the model and the sliding mode control method proves that the pseudo-partial derivative can be adjusted online to ensure the uniform and bounded of tracking error for the propulsion motor control system, and the performance of semi-submerged ship dynamic positioning system based on model-free adaptive sliding mode vector control and self-tuning PI vector control are compared. the simulation results show that the improved vector control has the characteristics of faster convergence speed and smaller steady-state error for the dynamic positioning propulsion motor.

关键词： Mathematical model Permanent magnet motors Synchronous motors Adaptation models Propulsion Machine vector control Torque

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On Extended State Based Kalman-Bucy Filter

On Extended State Based Kalman-Bucy Filter

引用

data driven control and learning systems (ddcls)

作者： Xiaocheng Zhang Wenchao Xue Haitao Fang Xingkang He School of Mathematical Sciences University of Chinese Academy of Sciences Beijing P. R. China

ISBN: (纸本)9781538626191

this paper studies the state estimation problem for a class of continuous-time stochastic systems with unknown nonlinear dynamics and measurement noise. Enlightened by the extended state observer (ESO) in timely estimating both the internal unknown dynamics and the external disturbance of systems, the paper constructs the extended state based Kalman-Bucy filter (ESKBF) to achieve better filtering performance. It is shown that ESKBF can provide the upper bound of the covariance matrix of estimation error, which is critical in evaluating the filtering precision. Besides, the stability of ESKBF is rigorously proven in the presence of unknown nonlinear dynamics, while the stability of traditional Kalman-Bucy filter is hard to be guaranteed under the same condition. Moreover, the asymptotic optimality of ESKBF for time-invariant system under constant disturbance is given. Finally, numerical simulations show the effectiveness of the method.

关键词： Estimation error Stability analysis Nonlinear dynamical systems Observers Asymptotic stability

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data-driven Analysis Methods for controllability and Observability of A Class of Discrete LTI systems with Delays

Data-Driven Analysis Methods for Controllability and Observa...

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data driven control and learning systems (ddcls)

作者： Binquan Zhou Zhuo Wang Yueyang Zhai Heng Yuan School of Instrumentation Science and Optoelectronics Engineering Beihang University Beijing P. R. China

ISBN: (纸本)9781538626191

We propose a couple of data-driven analysis methods for the state controllability and state observability of a class of discrete linear time-invariant (LTI) systems with delays, which have unknown parameter matrices. To analyze the state controlla-bility and the state observability, these data-driven methods first transform the system model into an augmented state-space model, and then use the state/output data that were previously measured, to directly build the controllability/observability matrices of this augmented model. Our methods have two main advantages over the traditional model-based characteristics analysis approaches. First, the unknown parameter matrices are not necessary to be identified for verifying the state controllability/observability of the system, but these characteristics can be directly verified according to the measured data, thus our methods have less workload. Second, their computational complexity is lower for the construction of the state controllability/observability matrices.

关键词： controllability Observability Linear systems Delays Analytical models data models State-space methods

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ADRC with Feedfoward control For Time-Delay systems

ADRC with Feedfoward Control For Time-Delay Systems

引用

data driven control and learning systems (ddcls)

作者： Xiangyang Li Wei Ai Senping Tian School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781538626191

A novel Active disturbance rejection control (ADRC) with feedforward control is proposed for time-delay systems. the feedforward control, which is inspired by the classic Smith predictor, is added to the original ADRC scheme and tuned to improve the reference tracking performance. the ADRC is mainly tuned to reject total disturbance including model uncertainties and external disturbance. the feedforward control does not change the poles of the main closed-loop system and the stability of the main closed-loop system depends on the conventional ADRC whose stability has been solved theoretically. A first-order plus time-delay (FOPTD) system is used in simulation study where the increasing system order method for time-delay system is used in ADRC. Simulations for reference tracking, external disturbance and variations of time-delay, time-constant and process gain of the plant show that the proposed ADRC with feedforward control provides more effective tracking performance and disturbance rejection abilities than the conventional ADRC for time-delay systems.

关键词： Feedforward systems Mathematical model Process control Closed loop systems Predictive models Delay effects

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A Unified Iterative learning Fault Detection and Fault-Tolerant control

A Unified Iterative Learning Fault Detection and Fault-Toler...

引用

ieee data driven control and learning systems conference

作者： Qiuzhen Yan Youfang Yu Jianping Cai Qingping Zhou College of Information Engineering Zhejiang University of Water Resources and Electric Power Hangzhou 310018 P. R. China Applied Engineering College Zhejiang Business College Hangzhou 310053 P. R. China School of Electrical Engineering Zhejiang University of Water Resources and Electric Power Hangzhou 310018 P. R. China Applied Engineering College Tangshan Normal University Tangshan 063000 P. R. China

ISBN: (纸本)9781538626191

In this paper, a unified iterative learning based fault detection and fault-tolerant control scheme is proposed. A system fault detector is constructed by using contraction mapping technique, and LMI technique is applied in the design of Lyapnov-based iterative controller, responsible for solving the state tracking problem no matter whether faults occur or not. Numerical results demonstrate the effectiveness of the proposed unified fault detection and control scheme.

关键词： Fault Detection Iterative learning control Fault-Tolerant control Contraction Mapping Lyapunov-Based Synthesis

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