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控制理论与应用 2021年第7期38卷 1033-1042页

作者：张特李世尧朱波电子科技大学航空航天学院四川成都611731 中山大学航空航天学院广东广州510275

本文研究了多运动体系统中领航者(leader)和跟随者(follower)同时受扰条件下的跟踪控制问题.针对3–DOF直升机模型的角度轨迹协同跟踪任务,设计并验证了基于跟随者不确定因素和外部领航者干扰同时补偿的分布式鲁棒算法.分别通过不确定... 详细信息

本文研究了多运动体系统中领航者(leader)和跟随者(follower)同时受扰条件下的跟踪控制问题.针对3–DOF直升机模型的角度轨迹协同跟踪任务,设计并验证了基于跟随者不确定因素和外部领航者干扰同时补偿的分布式鲁棒算法.分别通过不确定与干扰估计器和扩张状态观测器实现对内外扰动的估计与补偿,恢复了标称系统的跟踪性能.证明了闭环估计误差和跟踪误差的最终界大小与估计器核心参数值的单调关系,同时给出了系统实现渐近跟踪的条件.利用数字仿真实验和"虚实结合"实验验证了内外干扰同时补偿的必要性和参数调节机制的有效性.

关键词：分布式控制不确定与干扰估计器扩张状态观测器跟踪控制同时补偿

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Disturbance observer based controller design to Reduce Sensor Count in Standalone PVDG Systems 46

Disturbance Observer based Controller Design to Reduce Senso...

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46th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Korukonda, Meher Preetam Garg, Man Mohan Hussain, Amir Behera, Laxmidhar IIT Kanpur Elect Engn Kanpur 208016 Uttar Pradesh India MNIT Jaipur Elect Engn Jaipur 302017 Rajasthan India Univ Houston Elect & Comp Engn Houston TX 77004 USA

ISBN: (纸本)9781728154145

Standalone photovoltaic distributed generation (PVDG) systems have found their way into many popular offgrid applications like deserts, military and rural development. Generation of power at the consumption site and supplying power in DC make these systems more efficient due to minimization of losses during transmission and conversion. But, these systems suffer from lower inertia and this factor added with uncertainties in power generation and load consumption, greatly affects system stability. nonlinear control techniques like backstepping although effective, are expensive to implement since they are model-based and demand information from many sophisticated sensors. In this paper, a disturbance observer based on back-stepping control strategy is proposed for grid voltage control and MPPT of an isolated PVDG system with storage consisting of PV array, battery and load. The effects of irradiation and temperature on PV arrays, the variations in loads and battery voltage are modeled in the form of disturbances. Instead of measuring these entities with sensors, the update laws designed in this paper based on Lyapunov stability theory estimate their values which are further utilized for effective control during intermittencies. It can be seen from the MATLAB simulation results that adoption of this technique contributes towards faster and cheaper control of the PVDG system for a greater range of operating conditions.

关键词： Disturbance estimation Backstepping Lyapunov sensorless standalone PV

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design and experimental implementation of a new robust observer-based nonlinear controller for DC-DC buck converters

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ENERGY 2020年 213卷 118816-118816页

作者： Abdelmalek, Samir Dali, Ali Bakdi, Azzeddine Bettayeb, Maamar Univ Yahia Fares Medea Fac Technol Dept Elect Engn Medea Algeria CDER Ctr Dev Energies Renouvelables BP 62 Route Observ Bouzareah 16340 Alger Algeria Univ Oslo Dept Math N-0851 Oslo Norway Univ Sharjah Dept Elect Engn Sharjah U Arab Emirates King Abdulaziz Univ Ctr Excellence Intelligent Engn Syst CEIES Jeddah Saudi Arabia

DC-DC buck converters are extensively used in many industrial and end-user applications where significant attention highlights their power-conversion efficiency and robustness to load and source disturbances. This paper considers the problem of DC-DC buck converter control for Maximum Power Point (MPP) and voltage trajectory tracking applications in renewable energy systems. A new nonlinear robust controller is proposed for fast and robust output voltage tracking in the DC bus of the power source. New states are augmented in the design of a novel composite sliding mode controller. Furthermore, a nonlinear state observer is incorporated in the design for current estimation. Parameters of the overall approach are tuned using Particle Swarm Optimization (PSO) algorithm with an objective to ensure a good balance between fast transients, robustness, and dynamic performance in practical implementations. This novel strategy is cost-efficient and accounts for the switched and nonlinear aspects of the problem in addition to disturbances. The stability of the closed-loop system is analyzed and guaranteed through Lyapunov stability theory. The low complexity of the presented controller grants it a remarkable advantage for higher reliability in physical realization. Moreover, comparative simulation tests and experimental results from multiple scenarios show significant trajectory-tracking improvements in terms of faster convergence rate with short transients and effective disturbance rejection performance compared to the optimally tuned Proportional Integral (PI) controller that is widely adopted in industrial applications. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： Robust nonlinear controller nonlinear observer PSO Algorithm Voltage tracking DC-DC converter Lyapunov theory dSPACE 1103 platform

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Multivariable Disturbance observer Based control with the Experiment on an Active Magnetic Bearing Spindle 8

Multivariable Disturbance Observer Based Control with the Ex...

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8th International-Federation-of-Automatic-control (IFAC) symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (IFAC) symposium on nonlinear control Systems (NOLCOS)

作者： Rouhani, Shahin Tsao, Tsu-Chin Speyer, Jason L. Univ Calif Los Angeles Los Angeles CA 90095 USA

This paper presents a new method of disturbance observer based control (DOBC) for multi-input-multi-output (MIMO) highly-coupled unstable systems based on the game theory and the H-infinity synthesis. First motivated by the Youla parameterization of full order state observer feedback control, a full order state observer (FOSO) based DOBC is proposed for single-input-single-output (SISO) systems. Then inspired by the FOSO based DOBC design, a disturbance decoupling method is proposed for MIMO systems using game theoretic observer design. By using error dynamics from the proposed observers, single-input-multi-output (SIMO) virtual plants are constructed. Inverses of those virtual plants for a certain bandwidth are found by solving the model matching problem using H-infinity solver. The proposed DOBC is applied to an open loop unstable MIMO Active Magnetic Bearing Spindle (AMBS). Simulation and experimental results show that the disturbances are effectively estimated and compensated. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： disturbance estimation game theory optimization detection algorithms observers active magnetic bearing high speed machining

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Disturbance observer based controller design to Reduce Sensor Count in Standalone PVDG Systems

Disturbance Observer based Controller Design to Reduce Senso...

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Annual Conference of Industrial Electronics Society

作者： Meher Preetam Korukonda Man Mohan Garg Amir Hussain Laxmidhar Behera IIT Kanpur India MNIT Jaipur India University of Houston TX United States

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

Standalone photovoltaic distributed generation (PVDG) systems have found their way into many popular off-grid applications like deserts, military and rural development. Generation of power at the consumption site and supplying power in DC make these systems more efficient due to minimization of losses during transmission and conversion. But, these systems suffer from lower inertia and this factor added with uncertainties in power generation and load consumption, greatly affects system stability. nonlinear control techniques like backstepping although effective, are expensive to implement since they are model-based and demand information from many sophisticated sensors. In this paper, a disturbance observer based on back-stepping control strategy is proposed for grid voltage control and MPPT of an isolated PVDG system with storage consisting of PV array, battery and load. The effects of irradiation and temperature on PV arrays, the variations in loads and battery voltage are modeled in the form of disturbances. Instead of measuring these entities with sensors, the update laws designed in this paper based on Lyapunov stability theory estimate their values which are further utilized for effective control during intermittencies. It can be seen from the MATLAB simulation results that adoption of this technique contributes towards faster and cheaper control of the PVDG system for a greater range of operating conditions.

关键词： Batteries Load modeling Voltage control Mathematical model Stability analysis Disturbance observers Power system stability

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Optimization-Driven control and Organization of a Robot Swarm for Cooperative Transportation 8

Optimization-Driven Control and Organization of a Robot Swar...

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作者： Ebel, Henrik Eberhard, Peter Univ Stuttgart Inst Engn & Computat Mech Pfaffenwaldring 9 D-70569 Stuttgart Germany

The cooperation of autonomous robotic systems, forming a robotic network by communicating with each other, brings about the potential to improve both performance and robustness in robotics applications, but introduces additional complexity in control design. In this context, this paper examines a cooperative transportation task that can serve as a test bed for distributed control algorithms, but may also inspire applications in logistics. In the proposed approach, the task solution is split into an organization scheme, determining formations useful for the current situation, as well as a distributed controller maintaining the formation. Both of these rely on the solution of optimization problems, with the latter drawing from distributed model predictive control theory. The optimization problems are formulated in a way that they can be derived automatically from the intrinsic properties of the considered scenario, e.g. the number of participating robots and the shape of the transported object. Therefore, no human intervention or scenario-specific design steps are necessary while still being able to cater to a wide range of scenarios. Challenging simulation scenarios illustrate the performance achievable with the proposed scheme. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： object transportation distributed model predictive control networked robotic systems cooperative control formation control particle swarm optimization

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Differential Steering Based Yaw Stabilization Using ISMC for Independently Actuated Electric Vehicles

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2018年第2期19卷 627-638页

作者： Hu, Chuan Wang, Rongrong Yan, Fengjun Huang, Yanjun Wang, Hong Wei, Chongfeng Univ Waterloo Dept Syst Design Engn Waterloo ON N2L 3G1 Canada Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China McMaster Univ Dept Mech Engn Hamilton ON L8S 4L8 Canada Univ Waterloo Dept Mech & Mechatron Engn Waterloo ON N2L 3G1 Canada

Differential drive assistance steering (DDAS) is an emerging assisted steering mechanism in in-wheel-motor driven (IWMD) electric vehicles, yielded by the differential moment of the front tires in the steering system. DDAS can steer the front wheels when there is no steering power from the steering motor, and thus can be used as a redundant steering mechanism. To realize the yaw control when the active front steering entirely breaks down and guarantee the transient control performance therein, this paper proposes an integral sliding mode control (ISMC) approach for IWMD electric vehicles steered by DDAS. Two contributions are made in this paper: 1) An improved disturbance observer based ISMC strategy is designed to cope with the unknown mismatched disturbances, and the composite nonlinear feedback technique is employed to design the nominal part of the controller to restrain overshoots and remove steady-state errors considering the tire force saturations;2) An adaptive super-twisting control approach is proposed to deal with the disturbances with unknown boundaries using a continuous controller while eliminating the chattering effect. The system stability and robustness are proved via Lyapunov approach. CarSim-Simulink simulation has verified the effectiveness of the proposed control approach in the case of the steering fault.

关键词： Electric vehicles differential drive assistance steering disturbance observer transient control

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Flatness-based Adaptive control of Synchronous Reluctance Machines with Output Feedback 5

Flatness-based Adaptive Control of Synchronous Reluctance Ma...

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5th International symposium on Environment-Friendly Energies and applications (EFEA)

作者： Rigatos, Gerasimos Siano, Pierluigi Wira, Patrice Moreno-Munoz, Antonio Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Salerno Dept Ind Engn I-84084 Fisciano Italy Univ dHaute Alsace Lab MIPS F-68093 Mulhouse France Univ Cordoba Dept Elect Engn E-14071 Cordoba Spain

ISBN: (纸本)9781538655177

The present article proposes an adaptive neurofuzzy control method that is capable of compensating for model uncertainty and parametric changes of Synchronous Reluctance Machines (SRMs), as well as for lack of measurements for the SRMs state vector elements. First it is proven that the SRM's model is a differentially flat one. This means that all its state variables and its control inputs can be written as differential functions of key state variables which are the so-called flat outputs. Moreover, this implies that the flat output and its derivatives are linearly independent. By exploiting differential flatness properties it is shown that the 4-th order SRM model can be transformed into the linear canonical form. For the latter description, the new control inputs comprise unknown nonlinear functions which can be identified with the use of neurofuzzy approximators. The estimated dynamics of the electric machine is used by a feedback controller thus establishing an indirect adaptive control scheme. Moreover, to improve the robustness of the control loop a supplementary control term is computed using H-infinity control theory. Another problem that has to be dealt with comes from the inability to measure the complete state vector of the SRM. Thus, a state-observer is implemented in the control loop. The stability of the considered observer-based adaptive control approach is proven using Lyapunov analysis.

关键词： synchronous reluctance machines differential flatness theory neurofuzzy approximators indirect adaptive control observer-based control global asymptotic stability Lyapunov analysis

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Variable Structure control of Complex Systems: Analysis and design

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2018年

作者： Xinggang Yan Sarah K Spurgeon Christopher Edwards

ISBN: (纸本)9783319840574

This book systematizes recent research work on variable-structure control. It is self-contained, presenting necessary mathematical preliminaries so that the theoretical developments can be easily understood by a broad readership. The text begins with an introduction to the fundamental ideas of variable-structure control pertinent to their application in complex nonlinear systems. In the core of the book, the authors lay out an approach, suitable for a large class of systems, that deals with system uncertainties with nonlinear bounds. Its treatment of complex systems in which limited measurement information is available makes the results developed convenient to implement. Various case-study applications are described, from aerospace, through power systems to river pollution control with supporting simulations to aid the transition from mathematical theory to engineering practicalities. The book addresses systems with nonlinearities, time delays and interconnections and considers issues such as stabilization, observer design, and fault detection and isolation. It makes extensive use of numerical and practical examples to render its ideas more readily absorbed. Variable-Structure control of Complex Systems will be of interest to academic researchers studying control theory and its application in nonlinear, time-delayed an modular large-scale systems; the robustness of its approach will also be attractive to control engineers working in industries associate with aerospace, electrical and mechanical engineering.

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Extended Kalman filtering for state estimation of a Hill muscle model

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IET control theory AND applications 2018年第3期12卷 384-394页

作者： Mohammadi, Hanieh Yao, Hong Khademi, Gholamreza Nguyen, Thang T. Simon, Dan Richter, Hanz Cleveland State Univ Dept Elect Engn & Comp Sci 2121 Euclid Ave Cleveland OH 44115 USA Ton Duc Thang Univ Fac Dept Elect & Elect Engn Modeling Evolutionary Algorithms Simulat & Artif Ho Chi Minh City Vietnam Cleveland State Univ Dept Mech Engn 2121 Euclid Ave Cleveland OH 44115 USA

The objectives of this study are five-fold: (i) design an extended Kalman filter (EKF) for the single-muscle and two-muscle Hill models;(ii) design an EKF for unknown-input estimation of the muscle models;(iii) investigate the detectability of the muscle models;(iv) examine the robustness of the EKF to modeling errors;and (v) improve state estimation by incorporating physical constraints into the estimator. Two noisy measurements are available for state estimation: muscle length, which is measured from joint angles;and muscle activation, which is measured from electromyography sensors. Simulation results verify that the EKF is an effective approach for estimation of the activation signals and the states of the system if the system is detectable;the EKF outperforms the high gain observer;and the EKF is robust to modeling errors. The standard deviations of the estimation errors are in the range 0.01-0.1mm for the muscle lengths, which is one to two orders of magnitude more accurate than the measurements. The standard deviations of the dimensionless muscle activation estimation errors are in the range 0.01-0.02, which is one order of magnitude more accurate than the measurements. A projection approach accounts for constraints to further improve the estimates.

关键词： electromyography Kalman filters measurement errors medical signal processing nonlinear filters observers

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