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控制理论与应用 2012年第12期29卷 1594-1602页

作者：祝晓辉李颖晖孙国强空军航空大学飞行器控制系吉林长春130022 空军工程大学航空航天工程学院陕西西安710038

永磁同步电机调速系统的矢量控制建立在转子磁链定向系内,为了获得优异的转速响应特性、调速范围,特别是低速调速性能及抗负载扰动性能等控制效果,需要获取转子精确的位置及速度信息作为反馈调节量.针对永磁同步电机模型方程多变量、非... 详细信息

永磁同步电机调速系统的矢量控制建立在转子磁链定向系内,为了获得优异的转速响应特性、调速范围,特别是低速调速性能及抗负载扰动性能等控制效果,需要获取转子精确的位置及速度信息作为反馈调节量.针对永磁同步电机模型方程多变量、非线性、强耦合的特点,设计了一种基于非线性坐标变换后能观测规范形的高增益观测器,将其作为转子位置及速度高精度估计的内核算法.基于微分几何理论分析了转子磁链定向系内模型的非线性局部弱能观性及全局能观性,从而肯定了应用非线性观测器内核进行局部及全局状态估计的必要性;与另一种不同内核的观测器相比较,数值仿真结果肯定了本文提出的非线性观测器内核在估计转子磁链定向系的交(直)轴电流及速度信息方面的可实现性.这样,在理论及算法两个方面,都证明了所提出的非线性观测器内核可以实现无传感器稳定起动、状态估计以及结合位置估算的算法交联收敛性.

关键词：永磁同步电机高增益观测器微分几何非线性能观性矢量控制

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Persistence Filters for Estimation: applications to control in Shared-Sensing Reversible Transducer Systems

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2012年第4期134卷 41012-41012页

作者： Sukumar, Srikant Akella, Maruthi R. Indian Inst Technol Bombay 400078 Maharashtra India Univ Texas Austin Dept Aerosp Engn & Engn Mech Austin TX 78712 USA

We investigate state observer and feedback control design for systems with state-and time-dependent control or measurement gains. In this framework, we look at reversible transducers that are continually switched between the actuation and sensing modes at some prespecified schedule. design and analysis of stable state-observers and feedback controllers for these classes of switched/hybrid systems are significantly complicated by the fact that, at any given instant of time, the overall system loses either controllability (during the sensing phase) or observability (during the actuation phase). In this work, we consider systems with scalar time-varying measurement gains and provide a novel observer construction that guarantees exponential reconstruction of state estimates to their true values. We go a step further to derive an exponentially stabilizing controller design that uses the state estimates resulting from our observer. This amounts to the establishment of a rather remarkable separation property of the control design. These developments hinge on a rather mild technical assumption, which can be interpreted for the reversible transducer problem as a persistent dwell time for both the sensing and actuation modes. An important feature here is that the convergence rate can be specified to any arbitrary value. Our theoretical results are validated through numerical simulations of challenging test-cases that include open-loop unstable systems. The paper also illustrates potential for nonlinear extensions of the observer based control design by considering an interesting special case. [DOI: 10.1115/1.4005510]

关键词： TIME-varying systems ESTIMATION theory control theory (Mathematics) TRANSDUCERS FEEDBACK control systems COMPUTER simulation

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航天器姿态机动及稳定的自抗扰控制

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控制理论与应用 2012年第3期29卷 401-407页

作者：赖爱芳郭毓郑立君南京理工大学自动化学院江苏南京210094

针对航天器动力学参数不确定性以及系统存在外部持续干扰的问题,提出了一种自抗扰姿态控制器的设计方法.在为期望姿态安排过渡过程的基础上,设计了扩张状态观测器,对参数不确定性和外部干扰进行估计,并实时补偿.为抑制跟踪误差,设计了... 详细信息

针对航天器动力学参数不确定性以及系统存在外部持续干扰的问题,提出了一种自抗扰姿态控制器的设计方法.在为期望姿态安排过渡过程的基础上,设计了扩张状态观测器,对参数不确定性和外部干扰进行估计,并实时补偿.为抑制跟踪误差,设计了非线性状态误差反馈律.仿真结果表明,该控制器不仅能很好地估计并补偿系统受到的持续干扰,而且对航天器动力学参数的不确定性具有较强的鲁棒性,满足航天器姿态快速机动和高稳定度的控制要求,性能指标明显优于PD控制.

关键词：航天器自抗扰控制扩张状态观测器快速机动高稳定度

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垂直面欠驱动自治水下机器人定深问题的自适应输出反馈控制

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控制理论与应用 2012年第10期29卷 1371-1376页

作者：张利军齐雪赵杰梅庞永杰西北工业大学航海学院陕西西安710072 安徽科技学院理学院安徽凤阳233100 哈尔滨工程大学自动化学院黑龙江哈尔滨150001 哈尔滨工程大学水下机器人技术重点实验室黑龙江哈尔滨150001

针对垂直面欠驱动自治水下机器人(AUV)定深控制问题,本文仅使用可测量的深度和纵摇角信息,基于反步法设计自适应输出反馈控制器.为此首先设计观测器,实现不可测纵摇角速度反馈;再利用径向基神经网络对不确定水动力系数和纵荡、垂荡及纵... 详细信息

针对垂直面欠驱动自治水下机器人(AUV)定深控制问题,本文仅使用可测量的深度和纵摇角信息,基于反步法设计自适应输出反馈控制器.为此首先设计观测器,实现不可测纵摇角速度反馈;再利用径向基神经网络对不确定水动力系数和纵荡、垂荡及纵摇角速度耦合产生的非线性结构进行补偿;采用自适应策略对纵荡和垂荡速度形成的有界干扰进行抑制.本文采用AUV一阶非完整模型,不以线性化为目的,放宽了纵摇角只能在小范围内变化的限制.最后通过理论证明和仿真实验表明该方法能够实现AUV深度和姿态控制,对未建模非线性动态和有界扰动具有很强的自适应性和鲁棒性.

关键词：水下机器人径向基神经网络自适应输出反馈反步法

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Improvement on the problem of optimal fuzzy H_∞-tracking control design for non-linear systems

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IET control theory AND applications 2011年第18期5卷 2179-2190页

作者： Esfahani, S. H. Sichani, A. K. Shahrekord Univ Sch Elect Engn Shahr E Kord Iran

This study is concerned with the problem of output feedback fuzzy H-infinity-tracking control design for non-linear systems. The non-linear system is represented by using the Takagi and Sugeno fuzzy modelling scheme. The final controller takes the form of parallel distributed compensation. The final controller results in the stability of the closed-loop system and the H-infinity tracking of a bounded reference signal. Existing approaches to this problem available in the literature implement an observer-based output feedback controller. These approaches lead to a non-linear matrix inequality condition, which can be partially solved by applying a double-step algorithm. The approach presented in this study is based on a new structure for the controller. In this approach, the problem formulation and the method of finding the controller parameters involve a single-step linear matrix inequality form. Moreover, it is possible to easily find the optimal controller from the whole solution set. The approach is also extended to the case of non-linear time-delay systems. Finally, two examples are given to illustrate the effectiveness of the obtained results in comparison with the existing methods.

关键词： H∞ control nonlinear time-delay systems observer-based output feedback controller nonlinear matrix inequality condition output feedback optimal fuzzy H∞-tracking control design stability control system synthesis Stability in control theory control system analysis and synthesis methods nonlinear control systems Fuzzy control Takagi-Sugeno fuzzy modelling scheme closed loop systems double-step algorithm feedback closed-loop system stability Algebra delays nonlinear control systems fuzzy control Optimal control linear matrix inequalities reference signal parallel distributed compensation observers Distributed parameter control systems single-step linear matrix inequality form

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Fault reconstruction and state estimation with sliding mode observers for Lipschitz non-linear systems

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IET control theory AND applications 2011年第11期5卷 1255-1263页

作者： Veluvolu, K. C. Soh, Y. C. Kyungpook Natl Univ Sch Elect Engn & Comp Sci Taegu 702701 South Korea Nanyang Technol Univ Sch EEE Singapore 639798 Singapore

This study considers the design of sliding mode observers for fault reconstruction and state estimations. In the sliding-mode observer design the switching terms are designed such that the faults are tracked and reconstructed from their respective sliding surfaces. As the fault reconstruction relies only on output estimation error, the reconstruction can be performed online with the state estimation. The stability condition for the reduced-order system is analysed and the feedback gain is designed such that the reduced-order system is stable. An application example to robotic manipulator is examined to demonstrate the effectiveness of the proposed method in reconstruction of unknown inputs/faults.

关键词： SLIDING mode control LIPSCHITZ spaces ROBOTICS nonlinear systems MEASUREMENT errors ESTIMATION theory

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Real-time implementation of Chebyshev neural network observer for twin rotor control system

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EXPERT SYSTEMS WITH applications 2011年第10期38卷 13043-13049页

作者： Shaik, Ferdose Ahammad Purwar, Shubhi Pratap, Bhanu MN Natl Inst Technol Allahabad Uttar Pradesh India

This paper addresses the problem of observer design for the twin rotor multi-input-multi-output (MIMO) system which is a nonlinear system. Exact knowledge of the dynamics of twin rotor MIMO system (TRMS) is difficult to obtain but it is highly desired that the observer can dominate the effects of unknown nonlinearities and unmodeled dynamics independently to prevent the state estimations from diverging and to get precise estimations. The unknown nonlinearities are estimated by Chebyshev neural network (CNN) whose weights are adaptively adjusted. Lyapunov theory is used to guarantee stability for state estimation and neural network weight errors. A comparative experimental study is presented to demonstrate the enhanced performance of the proposed observer. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Twin rotor MIMO system Neural network Chebyshev polynomials State observer

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Fixed-frequency Pseudo Sliding Mode control for a Buck-Boost DC-DC Converter in Mobile applications: A Comparison with a Linear PID controller

Fixed-frequency Pseudo Sliding Mode Control for a Buck-Boost...

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IEEE International symposium on Circuits and Systems (ISCAS)

作者： Agostinelli, Matteo Priewasser, Robert Marsili, Stefano Huemer, Mario Univ Klagenfurt Networked & Embedded Syst A-9020 Klagenfurt Austria Infineon Technol Austria AG A-9500 Villach Austria

ISBN: (纸本)9781424494743

Interest is apparently growing in the four-switch noninverting Buck-Boost converter, which can be effectively used as a power supply for mobile devices. A typical application is a dynamic power supply for third-generation (3G) Wideband Code Division Multiple Access (WCDMA) Power Amplifiers (PA). While several control strategies based on the linear control theory have been proposed recently, there is still room for investigation of nonlinear control techniques. In this paper, a fixed-frequency nonlinear controller based on the sliding mode theory is presented and compared to a classical linear Proportional-Integral-Derivative (PID) implementation. The main differences from the design perspective and in terms of performance are then pointed out and commented. The main advantages of the proposed technique generally include an improvement of the dynamic performance and increased energy efficiency of the conversion. Simulation results are provided in order to evaluate and compare the different control strategies.

关键词： DC-DC converters Sliding mode control nonlinear control Noninverting Buck-Boost

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一类非线性系统的控制器和观测器设计

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控制理论与应用 2011年第2期28卷 229-234页

作者：董亚丽刘金英天津工业大学理学院天津300160

研究一类非线性系统的全状态反馈控制问题、观测器设计问题及输出反馈控制设计问题.首先设计出非线性全状态反馈控制器,获得了系统指数镇定的充分条件.然后提出了非线性观测器,并证明了该观测器是指数稳定观测器.进一步,在控制器和观测... 详细信息

研究一类非线性系统的全状态反馈控制问题、观测器设计问题及输出反馈控制设计问题.首先设计出非线性全状态反馈控制器,获得了系统指数镇定的充分条件.然后提出了非线性观测器,并证明了该观测器是指数稳定观测器.进一步,在控制器和观测器问题的充分条件满足的假设下,证明了提出的带估计状态的反馈控制能达到指数镇定.最后,仿真实例验证了所得结果的有效性.

关键词：控制器观测器非线性系统输出反馈指数镇定

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Handbook of Marine Craft Hydrodynamics and Motion control

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2011年

作者： Fossen, Thor I.

ISBN: (数字)9781119994121

ISBN: (纸本)9781119991496

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory

关键词： control Systems Technology

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