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Robust observer-Based Proportional Derivative Fuzzy control Approach for Discrete-Time nonlinear Descriptor Systems with Transient Response Requirements

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Processes 2024年第3期12卷 540页

作者： Lin, Ting-An Lee, Yi-Chen Chang, Wen-Jer Lin, Yann-Horng Department of Marine Engineering National Taiwan Ocean University Keelung202301 Taiwan Department of Information Management National Taiwan University Taipei City106319 Taiwan

This paper proposes an observer-based proportional Derivative (O-BPD) fuzzy controller for uncertain discrete-time nonlinear descriptor systems (NDSs). Representing NDSs with the Takagi–Sugeno fuzzy model (T-SFM), the proportional derivative (PD) feedback method can be utilized in the fuzzy controller design via the Parallel Distributed Compensation (PDC) concept, such that the noncausal problem and impulse behavior are avoided. A fuzzy observer is proposed to obtain unmeasured states to fulfill the PD fuzzy controller. Moreover, uncertainties and transient response performances are taken into account for the NDSs. Then, a stability analysis process and corresponding stability conditions are derived from the Lyapunov theory with the robust control method and the pole constraint. Different from existing research, the Singular Value Decomposition (SVD) and the projection lemma are utilized to transfer the stability conditions into the Linear Matrix Inequation (LMI) form. Because of this reason, the conservatism of the analysis process can be reduced by eliminating the restriction on the positive definite matrix in the Lyapunov function. By giving the proper center and radius parameters of the pole constraint in the O-BPD fuzzy controller design process, the expected transient responses can be obtained for different designers and different practical applications. Finally, the effectiveness and applicability of the proposed O-BPD fuzzy controller are demonstrated by two examples of the simulation. © 2024 by the authors.

关键词： Transient analysis

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Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC

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IET control theory AND applications 2021年第12期15卷 1686-1694页

作者： Wang, Haoyu Zuo, Zhiqiang Wang, Yijing Yang, Hongjiu Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China

This paper proposes a control strategy integrating the non-linear extended state observer (NLESO) and the non-singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify the controller design. A specific NLESO combining linear term and non-linear term is designed to estimate the disturbances with a faster convergence performance. A scheme for determining the gain range of NLESO is explicitly given to facilitate the tuning of experimental parameters. Meanwhile, the NTSMC achieves finite time convergence of the tracking error system and the chattering phenomenon in NTSMC is dramatically alleviated with the compensation from NLESO. The experimental results validate the strong robustness and good performance of the proposed control strategy.

关键词： Spatial variables control Velocity, acceleration and rotation control control of electric power systems Mobile robots control system analysis and synthesis methods Stability in control theory Multivariable control systems Self-adjusting control systems nonlinear control systems

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一类伴有部分解耦干扰的非线性系统故障诊断

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控制理论与应用 2024年第2期41卷 240-248页

作者：马广富高升郭延宁中国科学院沈阳自动化研究所机器人学国家重点实验室辽宁沈阳110016 中国科学院机器人与智能制造创新研究院辽宁沈阳110169 哈尔滨工业大学航天学院黑龙江哈尔滨150001

针对Lipschitz非线性系统执行器故障检测和传感器故障估计问题,本文提出了一种基于H_/L_(∞)未知输入观测器的有限频域故障诊断策略.首先,将系统处理成包含传感器故障的增广系统.然后,将该系统的未知输入干扰分为可解耦与不可解耦两部分... 详细信息

针对Lipschitz非线性系统执行器故障检测和传感器故障估计问题,本文提出了一种基于H_/L_(∞)未知输入观测器的有限频域故障诊断策略.首先,将系统处理成包含传感器故障的增广系统.然后,将该系统的未知输入干扰分为可解耦与不可解耦两部分.针对可解耦部分,利用观测器匹配条件将其从估计误差中消除.针对不可解耦部分,设计L_(∞)指标抑制其对残差的影响并结合有限频域H_指标提高执行器故障检测灵敏度.接着,给出观测器存在的充分条件并将其转化为受LMIs约束的线性优化问题,实现了执行器故障的鲁棒检测及传感器故障的鲁棒估计.最后,结合仿真算例验证了所提方法的正确性与有效性.

关键词：故障检测故障估计 H_指标 L_(∞)指标有限频域 Lipschitz非线性系统

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Robust Boundary observer for Traffic State Estimation on One Incoming and Two Outgoing Roads 24

Robust Boundary Observer for Traffic State Estimation on One...

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24th International symposium on Mathematical theory of Networks and Systems (MTNS)

作者： Yu, Huan Krstic, Miroslav Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA

In this paper we design a partial differential equation (PDE) observer for state estimation of a fundamental component of traffic flow network: one incoming road segment and two outgoing road segment connected by a junction. Traffic state estimation refers to acquisition of traffic state information from partially observed traffic data. We propose a PDE model -based observer to estimate traffic density and velocity on the "Y" shape traffic network from boundary sensing at the nodes including inlet, outlet and middle junction. The macroscopic traffic dynamics on each road segment are governed by AwRascle-Zhang (ARZ) model, consisting of second-order nonlinear PDEs of traffic density and velocity. Using PDE backstepping method, we first construct a boundary observer from a copy of the plant and output injections from boundary measurement errors of the middle junction. The exponential stability of the estimation error system to zero in the L2 norm is achieved. For robustness of the observer design, we prove the Input-to -State Stability (ISS) of the estimation error system with respect to in -domain spatially distributed disturbances and measurement noise. Copyright (C) 2021 The Authors.

关键词： Traffic network ARZ traffic model Input-to-State Stable PDE observer Backstepping

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Sensorless control Algorithm for Permanent Magnet Synchronous Motors Based on Enhanced Luenberger observer

Sensorless Control Algorithm for Permanent Magnet Synchronou...

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Clean Energy Storage and Power Engineering (CESPE), International Conference on

作者： Xiaofeng Zhang Huisong Sun Guizhou Wu Yanfeng Jing Department of Mechanical and Electrical Engineering Heilongjiang Institute of Construction Technology Harbin China

ISBN: (数字)9798331511708

ISBN: (纸本)9798331511715

The enhanced Luenberger observer-based sensorless control algorithm showcases exceptional capabilities in scenarios demanding low-speed operation and high dynamic performance. This study addresses the inherent limitations of traditional methods in rotor position and speed estimation accuracy by introducing an innovative optimization framework. The integration of nonlinear compensation and adaptive mechanisms significantly improves the observer's resilience to noise and adaptability to parameter fluctuations. Paired with an optimized model predictive current control (TV-MPCC) strategy, this advanced approach not only enhances rotor state estimation precision but also reduces algorithmic complexity. A detailed exploration, from theoretical foundation to experimental validation, underpins the design of the improved observer and its effective integration into control strategies. Results from simulations and experiments confirm that the proposed algorithm achieves consistent high-precision estimation throughout the entire speed range. Additionally, it outperforms conventional methods in terms of dynamic responsiveness, steady-state behavior, and disturbance rejection, providing a solid technological base for sensorless control in high-performance PMSM applications.

关键词： Heuristic algorithms Simulation Rotors Sensorless control observers Position measurement Permanent magnet motors Steady-state Complexity theory Torque measurement

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基于非线性时间延迟扰动估计的永磁同步直线电机无模型鲁棒位置跟踪控制

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电工技术学报 2024年第18期39卷 5692-5704页

作者：王立俊赵吉文于子翔盘真保合肥工业大学电气与自动化工程学院合肥230009

为了提高永磁同步直线电机在载荷变化工况下的伺服性能,该文提出了一种基于非线性时间延迟扰动估计的无模型鲁棒位置控制策略。首先,建立一种新型的动力学阶次模型,消除了传统动力学模型中的电机参数和非线性项;其次,引入终端吸引因子... 详细信息

为了提高永磁同步直线电机在载荷变化工况下的伺服性能,该文提出了一种基于非线性时间延迟扰动估计的无模型鲁棒位置控制策略。首先,建立一种新型的动力学阶次模型,消除了传统动力学模型中的电机参数和非线性项;其次,引入终端吸引因子设计了期望非线性误差动力学,确保位置跟踪误差的高精度有限时间收敛;然后,采用时间延迟扰动估计技术在线估计载荷变化引起的不确定性并前馈补偿到控制回路,同时结合非线性阻尼项克服时间延迟扰动估计的误差,利用李雅普诺夫理论分析了闭环控制器的稳定性和有限时间收敛性;最后,在不同工况下与传统的比例微分控制和滑模控制进行对比,仿真和实验结果验证了所提方法的有效性和优越性。

关键词：永磁同步直线电机伺服性能阶次模型非线性时间延迟扰动估计李雅普诺夫

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

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

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Fully Actuated System theory and applications (CFASTA), Conference on

作者： Zhijie Liu Fuxing Yao Guangren Duan He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni. of Sci. and Tech. Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

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： Three-dimensional displays Mechatronics System dynamics Wheels Transforms observers Stability analysis

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A new fault tolerant control scheme for non-linear systems by T-S fuzzy model approach

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IET control theory AND applications 2021年第15期15卷 1915-1930页

作者： Wu, Yue Wang, Yang Li, Tieshan Yang, Zhixin Southwest Jiaotong Univ Sch Elect Engn Chengdu 611756 Peoples R China Dalian Maritime Univ Nav Coll Dalian Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu Peoples R China Univ Macau Fac Sci & Technol Dept Elctromch Engn Macau Peoples R China Univ Macau State Key Lab Internet Things Smart City Macau Peoples R China Univ Macau Dept Electromech Engn Macau Peoples R China

This paper is concerned with the problem of fault tolerant control for non-linear systems with sensor faults based on the T-S fuzzy model approach. First, a fault estimation (FE) observer with L infinity technique is designed to estimate the fault. Second, by using the fault estimation information, which are provided by the fault estimation observer, a novel fault tolerant control scheme with a fault compensation mechanism in the premise part of the fuzzy controller is presented to compensate the effect of the fault and stabilize the system. Different from the existing methods, where the fault compensation mechanism is only established in the consequent part of the controller, in the presented method, the fault compensation mechanism is established in the consequent part as well as the premise part of the fuzzy controller. Then, by using the fault compensation mechanism, the bound of the deviation between the normalized membership functions of the fuzzy model and those of the controller can be reduced such that the fault tolerant control design can be relaxed. In the end, an example is given to illustrate the validity of the developed fault tolerant control scheme.

关键词： control system analysis and synthesis methods Stability in control theory Fuzzy control nonlinear control systems

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拦截高速机动目标的非线性自抗扰制导律

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控制理论与应用 2023年第5期40卷 942-948页

作者：马鹏娟赵志良陈森郭杨陕西师范大学数学与统计学院陕西西安710110 火箭军工程大学导弹工程学院陕西西安710025

为实现导弹对目标的高精度拦截,本文提出了基于加权齐次函数的非线性自抗扰拦截制导设计方法.首先,提出了基于加权齐次函数的非线性扩张状态观测器在线估计视线角速率和由目标加速度等内外不确定性因素构成的总扰动.其次,设计了基于非... 详细信息

为实现导弹对目标的高精度拦截,本文提出了基于加权齐次函数的非线性自抗扰拦截制导设计方法.首先,提出了基于加权齐次函数的非线性扩张状态观测器在线估计视线角速率和由目标加速度等内外不确定性因素构成的总扰动.其次,设计了基于非线性扩张状态观测器的非线性自抗扰三维制导律对总扰动进行补偿,该制导律克服了高阶非线性项与强耦合项等不利因素的影响,提高了拦截制导精度.本文通过分析误差系统的动力学行为证明了闭环制导系统的稳定性和收敛性.本文提出的方法在拦截精度等方面优于已有的基于线性扩张状态观测器和基于fal函数的扩张状态观测器的自抗扰制导方法.仿真结果验证了本文所提出方法的有效性和优越性.

关键词：拦截制导非线性自抗扰控制扩张状态观测器

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Model-free linear active disturbance rejection output feedback control for electro-hydraulic proportional system with unknown dead-zone

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IET control theory AND applications 2021年第16期15卷 2081-2094页

作者： Wang, Lixin Zhao, Dingxuan Zhang, Zhuxin Liu, Qian Liu, Fucai Jia, Tuo Yanshan Univ Sch Mech Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Key Lab Special Carrier Equipment Hebei Prov Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Sch Vehicle & Energy Qinhuangdao 066004 Hebei Peoples R China

Here, a model-free linear active disturbance rejection controller (LADRC) integrating dead-zone inverse compensation for an electro-hydraulic proportional (EHP) system with an unknown dead-zone is proposed. Unlike the existing LADRC design idea, the presented method uses a new hydraulic system block diagram to select the order of LADRC instead of the highest degree of the system. Furthermore, the rationality of order selection is illustrated by the frequency domain analysis theory. To solve the dead-zone of the proportional valve, a novel structural transformation is proposed by constructing a new dead-zone, which has a definite physical meaning and can be obtained by the experimental measurement. Then, the dead-zone disturbance is reduced, and the burden of the observer is relieved. At the same time, the controller parameters are decreased from three to two equivalent PI controller. Besides, the stability of the closed-loop system is analysed by the describing function method. The performance of the proposed control solution has been investigated through extensive comparative experiments under different working conditions. The experimental results successfully demonstrate the effectiveness and practicality of the presented method.

关键词： control system analysis and synthesis methods Stability in control theory Self-adjusting control systems nonlinear control systems Electrohydraulic and electropneumatic control equipment Linear control systems

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