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Disturbance-observer-based fault-tolerant control of robotic manipulator: A fixed-time adaptive approach

IET control theory AND applications 2024年第11期18卷 1398-1413页

作者： Anjum, Zeeshan Sun, Zhe Chen, Bo Zhejiang Univ Technol Coll Informat Engn Hangzhou 310023 Peoples R China

The concurrent existence of model uncertainties, external disturbances, and actuator faults in a nonlinear system such as a robotic manipulator can significantly affect the trajectory tracking performance of these systems. Therefore this study is devoted to proposing a control approach based on fixed-time control theory to improve the trajectory tracking performance of the robotic manipulator in the presence of lumped disturbance, including uncertainties, external disturbances, and actuator faults. The control approach in this paper is designed based on the integration of a fixed-time adaptive sliding mode observer and a fixed-time non-singular fast terminal sliding mode control design strategy. Firstly, a new fixed-time adaptive sliding mode observer is designed based on fixed-time theory and adaptive control theory to estimate the lumped disturbance present in the system. Then, using the information from the disturbance observer, the fixed-time non-singular fast terminal sliding mode control is devised based on a non-singular fixed-time sliding surface and a fixed-time reaching approach. Furthermore, in the sense of the Lyapunov theorem, through rigorous analysis, it is demonstrated that the tracking errors of the closed-loop system converge to a small neighbourhood within a fixed time, regardless of the information about the initial conditions of the states of the system. Finally, extensive comparative simulations are performed using the PUMA560 robot to manifest the feasibility and validity of the proposed control strategy in terms of trajectory tracking accuracy and fast convergence in the presence of uncertainties, disturbances, and actuator faults. In this study, a novel composite fixed-time trajectory tracking control for a robotic manipulator in the presence of lumped disturbance, including uncertainties, external disturbances, and actuator faults, is developed. The proposed approach is created based on combining a fixed-time non-singular fast terminal slid

关键词： adaptive control fault tolerant control manipulator dynamics nonlinear control systems observers

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Robust fuzzy observer-based fault-tolerant control: A homogeneous polynomial Lyapunov function approach

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IET control theory AND applications 2023年第1期17卷 74-91页

作者： Sabbaghian-Bidgoli, Farzaneh Farrokhi, Mohammad Iran Univ Sci & Technol Sch Elect Engn Tehran Iran Iran Univ Sci & Technol Ctr Excellence Modelling & Control Complex Syst Tehran Iran

In this paper, a homogeneous polynomial Lyapunov function (HPLF) is employed in robust observer-based Integrated Fault-Tolerant control (IFTC) of nonlinear systems modelled by the polynomial fuzzy model (PFM). This makes the design problem benefit from the conservative reduction property of polynomial Lyapunov functions (PLFs) and simultaneously avoid the emergence of non-convex terms due to differentiation of the polynomial Lyapunov matrix. As a result, the less conservative sum of square (SOS) conditions are obtained in the form of polynomial matrix inequalities (PMI), which are solved via SOSTOOLS. For the first time, a non-quadratic Lyapunov function is used to design a polynomial fuzzy unknown-input observer that estimates the system's states and actuator faults in the presence of model uncertainties and external disturbances. The effectiveness of the proposed approach in providing more relaxed and less conservative results along with the better fault tolerance is illustrated through three simulating examples and compared with the quadratic Lyapunov function (QLF) approach.

关键词： fault-tolerant control fuzzy unknown-input observer homogeneous polynomial Lyapunov function polynomial fuzzy model robust control sum-of-squares (SOS)

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Interval observer design for nonlinear systems using simplified contraction theory

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IET control theory AND applications 2022年第10期16卷 935-944页

作者： Singh, Bhawana Xiong, Xiaogang Thach Ngoc Dinh Kamal, Shyam Ghosh, Sandip Indian Inst Technol BHU Dept Elect Engn Varanasi Uttar Pradesh India Harbin Inst Technol Harbin Harbin Peoples R China CEDRIC Laetitia Conservatoire Natl Arts & Metiets CNAM 292 Rue St Martin Paris France

In this work, vector framework based contraction theory to design interval observers for a class of nonlinear systems having disturbances, inputs and outputs is exploited. The main feature is that it does not require the formulation of error dynamics to show the convergence properties and need not require the construction of a Lyapunov candidate function without any idea of the structure of the function. Specifically, it performs the convergence analysis through a comparison system which has specified properties. Furthermore, this theory is exploited to design dynamic output feedback control through the obtained state bounds from the constructed interval observer and the system outputs, to make the interval observer to be globally asymptotically stable. Examples with simulation outcomes are provided to validate the theoretical results.

关键词： convergence properties vector framework based contraction theory dynamic output feedback control observers system outputs comparison system nonlinear systems nonlinear control systems convergence analysis asymptotic stability globally asymptotically stable interval observer design feedback Lyapunov candidate function constructed interval observer simplified contraction theory Lyapunov methods error dynamics control system synthesis contracts

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A new intelligent controller based on integral sliding mode control and extended state observer for nonlinear MIMO drone quadrotor

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International Journal of Intelligent Networks 2024年第1期5卷 49-62页

作者： Abdillah, Moussa Mellouli, El Mehdi Haidi, Touria Laboratory of Engineering Systems and Applications Sidi Mohammed Ben Abdellah University- National School of Applied Sciences Fes Morocco Casablanca Morocco

Unmanned aerial vehicles (UAVs) control faces major challenges such as dynamic complexity, unknown external disturbances, parametric uncertainties, time-varying states and delays. The literature proposes different techniques to address these challenges, but little attention has been paid to the design of a hybrid controller combining the advantages of these techniques to improve system performance. This research therefore aims to investigate the design of such a hybrid controller. In this paper, we present a novel intelligent controller based on Integral Sliding Mode control (ISMC) and Extended State observer (ESO) for a nonlinear Multiple Input Multiple Output (MIMO) drone quadrotor. First, the kinematic and dynamic models of our quadrotor drone are presented. Second, the ESO is used to estimate external disturbances and model uncertainties. Third, to overcome the problem of the reaching phase and the steady-state error, a new nonlinear ISMC is designed. The additive term of the ISMC structure has also overcome the problem of external disturbances and modelling errors, as well as observational errors. Fourth, an Adaptive Neural Network (ANN) switching control law is developed to surmount the chattering phenomenon. In addition, the stability of the control system is verified using Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed control method are proved by simulation results. The results show that the proposed approach can handle external disturbances and eliminate chatter, leading to smooth control laws and lower power consumption, which is excellent from an energy efficiency perspective. © 2024 The Authors

关键词： Energy efficiency

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Disturbance observer-based nonlinear control for underactuated bridge cranes: high-order fully actuated system approach 3

Disturbance observer-based nonlinear control for underactuat...

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3rd Conference on Fully Actuated System theory and applications (FASTA)

作者： Zhou, Xiaoshuang Yang, Yana Li, Junpeng Liu, Guopin Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Peoples R China

ISBN: (纸本)9798350373707;9798350373691

In this paper, a disturbance observer-based nonlinear control method is proposed for a class of underactuated bridge crane systems. Specifically, the underactuated bridge crane system is transformed into a high-order fully actuated (HOFA) system through a diffeomorphism transformation. The proposed approach utilizes a predetermined-time disturbance observer based on the HOFA system, eliminating the need for any prior knowledge of disturbance upper bounds and ensuring independence from controller design. This designed scheme effectively achieves both anti-swing and positioning control objectives in underactuated bridge crane systems. Rigorous demonstrations are provided to ensure the stability of positioning error and load swing angle. Simulation experiments conclusively demonstrate the effectiveness and robustness of the designed control scheme. This paper represents the first application of HOFA system theory to underactuated bridge crane systems, thereby expanding the scope of its applicability.

关键词： Underactuated bridge crane systems High-order fully actuated system Disturbance observer Disturbance transformation

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A Fully Actuated System Approach to control of the 3D Cubli: theory and Experiments 3

A Fully Actuated System Approach to Control of the 3D Cubli:...

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3rd Conference on Fully Actuated System theory and applications (FASTA)

作者： Liu, Zhijie Yao, Fuxing Duan, Guangren Kong, He Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Sys Shenzhen 518055 Peoples R China Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin 150001 Peoples R China

ISBN: (纸本)9798350373707;9798350373691

The 3D Cubli is an interesting underactuated mechatronics system that has reaction wheels mounted on three of its faces and can balance on its corner or edge by applying controlled torques to the reaction wheels. control of the 3D Cubli has attracted much attention in the literature, yet remains challenging due to strong nonlinearity and coupling inherent in the system, as well as adverse effects from external disturbances, unknown friction and other unmodeled dynamics that further intensify the difficulty of regulating system attitude. To address the above issues, this paper is concerned with high-order fully actuated (HOFA) system approach to control of the 3D Cubli. First, by adopting the concepts and tools from the recently developed fully actuated system approach, we transform the system dynamics of the Cubli into a nonlinear HOFA model. We leverage the full actuation property of the latter model to design a baseline controller to eliminate the nonlinearities inherent in the Cubli system. Second, a nonlinear observer is developed to estimate the additive system disturbance in real time. The estimated disturbance is then used to enhance the performance of the baseline controller. The stability of the closed-loop system has been rigorously established. Compared to the linearization-based LQR strategy, the proposed framework exhibits significantly better performance in hardware experiments that were conducted on a self-built 3D Cubli platform by the authors.

关键词： HOFA system approaches Underactuated Cubli nonlinear systems Unmodeled dynamics nonlinear observer

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Model-predictive kinetic control with data-driven models on EAST

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NUCLEAR FUSION 2024年第12期64卷

作者： Moreau, D. Wang, S. Qian, J. P. Yuan, Q. Huang, Y. Li, Y. Ding, S. Du, H. Gong, X. Li, M. Liu, H. Luo, Z. Zeng, L. Olofsson, E. Sammuli, B. Artaud, J. F. Ekedahl, A. Witrant, E. CEA IRFM F-13108 St Paul Les Durance France Chinese Acad Sci IPP Hefei 230031 Peoples R China Gen Atom San Diego CA 92186 USA Univ Grenoble Alpes CNRS GIPSA Lab F-38000 Grenoble France

In this work, model-predictive control (MPC) was combined for the first time with singular perturbation theory, and an original plasma kinetic control method based on extremely simple data-driven models and a two-time-scale MPC algorithm has been developed. A comprehensive review is presented in this paper. Slow and fast semi-empirical models are identified from data, by considering the fast kinetic plasma dynamics as a singular perturbation of a quasi-static equilibrium, which itself is governed, on the slow time scale, by the flux diffusion equation. This control technique takes advantage of the large ratio between the time scales involved in magnetic and kinetic plasma transport. It is applied here to the simultaneous control of the safety factor profile, q(x), and of several kinetic variables, such as the poloidal beta parameter, beta(p), and the internal inductance parameter, l(i), on the EAST tokamak. In the experiments, the available control actuators were lower hybrid current drive (LHCD) and co-current neutral beam injection (NBI) from different sources. Ion cyclotron resonant heating (ICRH) and electron cyclotron resonant heating (ECRH) are used as additional actuators in control simulations. In the controller design, an observer provides, in real time, an estimate of the system states and of the mismatch between measured and predicted outputs, which ensures robustness to model errors and offset-free control. Based on the observer information, the controller predicts the behavior of the system over a given time horizon and computes the optimal actuation by solving a quadratic programming optimization problem that takes the actuator constraints into account. A number of control applications are described in the paper, either in nonlinear simulations with EAST-like parameters or in real experiments on EAST. The simulations were performed with a fast plasma simulator (METIS) using either two control actuators (LHCD and ICRH) in a low density scenario, or up t

关键词： tokamaks plasma control kinetic control profile control model-predictive control two-time-scale control singular perturbation theory

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A novel composite fixed-time sliding mode control scheme for second-order systems with mismatched disturbances: application to Buck converter

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IET control theory AND applications 2024年第1期18卷 83-94页

作者： Cai, Zhongze Sun, Guhao Zeng, Qingshuang Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin Peoples R China

In this paper, a composite fixed-time sliding mode controller is proposed to address the problems of finite-time escape and large initial error inherent in disturbance observer (DOB) based controllers. The proposed hybrid control strategy utilizes a fixed-time DOB and is designed to stabilize a class of second-order systems in the presence of both matched and mismatched disturbances, while ensuring fixed-time convergence. First, a fixed-time DOB is developed to estimate both types of disturbances. Second, a robust sliding mode variable with variable exponent coefficient and a former finite-time sliding mode controller are proposed to guarantee state convergence without using DOB estimation, thereby preventing the state from diverging due to the unknown large initial error caused by DOB and ensuring convergence prior to switching. Third, a latter robust fixed-time DOB-based controller is designed after exact estimation of disturbances is achieved and an estimation of the overall convergence time is provided. Furthermore, strict Lyapunov analysis is employed to prove that the disturbed system under the fixed-time DOB and composite sliding mode controller is fixed-time stable. Simulation results for a standard planar uncertain system and Buck converter with mismatched disturbance demonstrate the effectiveness of the proposed controller. This work aims to design a composite fixed-time sliding mode control to stabilize second-order systems with matched and mismatched disturbances. The simulation results of a planar uncertain system and Buck converter show the effectiveness of the proposed ***

关键词： nonlinear control systems observers power system control robust control

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Fuzzy observer-Based Consensus Tracking control for Fractional-Order Multi-Agent Systems Under Cyber-Attacks and Its Application to Electronic Circuits

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IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING 2023年第2期10卷 698-708页

作者： Narayanan, G. Ali, M. Syed Zhu, Quanxin Priya, Bandana Thakur, Ganesh Kumar Chennai Inst Technol Ctr Computat Modeling Chennai 600069 India Thiruvalluvar Univ Dept Math Vellore 600069 India Hunan Normal Univ Sch Math & Stat Changsha 600069 Peoples R China Hunan Normal Univ Coll Hunan Prov Key Laboratoryof Control & Optimizat Complex Syst Changsha 410081 Peoples R China G L Bajaj Inst Technol & Management Dept Appl Sci Greater Noida 201306 India ABES Engn Coll Ghaziabad 201009 India

Consensus control of multi-agent systems (MASs) has applications in various domains. As MASs work in networked environments, their security control becomes critically desirable in response to cyber-attacks. In this paper, the observer-based consensus tracking control problem is investigated for a class of Takagi-Sugeno fuzzy fractional-order multi-agent systems (FOMASs) under cyber-attacks. The malicious cyber attacks can impact the security of topologies of the communication networks of both controllers and observers. To estimate unmeasurable system states, a fuzzy observer is built. It is found that the topology of contact for observer states may be different from that of the feedback signals. A novel mathematical model for T-S fuzzy FOMASs with cyber-attacks is proposed. By using algebraic graph theory, Lyapunov functional, and fractional calculus theory, a distributed feed-back controller is developed for each agent, which guarantee the secure performance of tracking consensus error and observer error. Finally, two numerical examples demonstrate the effectiveness of the suggested control scheme, and the controller design for electronic network circuits shows the applicability of the proposed theoretical results. Simulations results for different differential-orders and coupling strength scenarios are given.

关键词： observers Security Topology Network topology Multi-agent systems Takagi-Sugeno model Robot sensing systems Cyber-attacks distributed control fractional-order multi-agent systems takagi-sugeno model

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Dynamic observer-based H∞ robust control for a ducted coaxial-rotor UAV

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IET control theory AND applications 2022年第12期16卷 1165-1181页

作者： Xu, Chang Su, Chengzhi Changchun Univ Sci & Technol Fac Mech & Elect Engn Jilin Jilin Peoples R China Changchun Univ Sci & Technol Fac Artificial Intelligence Jilin Jilin Peoples R China Changchun Univ Sci & Technol Chongqing Res Inst Chongqing Peoples R China

This paper is concerned with the problem of aerodynamic modelling and robust attitude control for a novel ducted coaxial-rotor UAV (DCUAV) with time-varying model uncertainties and external disturbances. In order to achieve robust attitude stabilization and tracking control for the highly non-linear and coupled system of the DCUAV, a united H infinity$H\infty $ dynamic observer (DO) based control design is proposed, which can deal with the uncertainty and disturbance simultaneously without estimating and compensating them during the design problem. Through the combination of the H infinity$H\infty $ theory and the DO technique, the developed control method can achieve a better H infinity$H\infty $ performance and more accurate tracking control compared with the existing statice observer-based control design approaches. In addition, the parameterization of the proposed controller is derived from the solution of new LMI formulations based on the transformation of the algebraic constraint. By combining the designed H infinity$H\infty $ DO-based controller with the linearized DCUAV system that includes model uncertainties and disturbances, better robustness and tracking performance has been achieved. Simulation results are carried out to demonstrate the efficiency and good performance of the proposed control design.

关键词： linearized DCUAV system linear matrix inequalities autonomous aerial vehicles H ducted coaxial-rotor UAV observers robust control uncertain systems algebraic constraint time-varying model uncertainties statice observer-based control design dynamic observer-based H∞ robust control attitude control robust attitude control time-varying systems H∞$H\infty $ DO-based controller LMI formulations ducts tracking control aerodynamics control united H∞$H\infty $ dynamic observer robust attitude stabilization nonlinear coupled system aerodynamic modelling

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