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design of Sliding Mode Extended State observer for Active disturbance rejection control of Air Intake System 4

Design of Sliding Mode Extended State Observer for Active di...

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4th International symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Zhou, Zezhen Rong, Haina Bi, Tong Zhang, Gexiang Dan, Zhihong Zhang, Song School of Electrical Engineering Southwest Jiaotong University Chengdu611756 China School of Automation Chengdu University of Information Technology Chengdu610225 China Science and Technology on Altitude Simulation Laboratory AECC Sichuan Gas Turbine Establishment Mianyang621703 China

ISBN: (纸本)9798331541729

The air intake control system is a key part of a type of propulsion system test bed. However, the existence of disturbances and random measurement noise in the control system, directly affect the reliability of the engine transition state test results. In this paper, a novel sliding mode extended state observer is designed to improve the anti-disturbance performance of the intake pressure control system. First, a sliding-mode convergence law is designed to improve the convergence speed and accuracy of the system state, and then a sliding mode surface is designed to reduce tracking error. Based on the designed sliding-mode convergence law and sliding mode surface, a nonlinear convergence function is designed to modify the structure of traditional extended state observer, improving tracking accuracy and speed. Simulation experiment results show that the proposed sliding mode extended state observer reduces the overshoot by 32.7% when tracking the intake pressure and 48.9% when tracking the intake temperature, indicating its effective anti-disturbance performance while ignoring the temperature feedback delay. © 2024 IEEE.

关键词： Disturbance rejection

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nonlinear control of Crane Systems Based on Intelligence Computing of Disturbance observer Under Mismatched Disturbance 22

Nonlinear Control of Crane Systems Based on Intelligence Com...

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22nd IEEE International symposium on Parallel and Distributed Processing with Applications, ISPA 2024

作者： Wang, Tianlei Wang, Yiyan Xu, Meng Tian, Jiajie Zhang, Jingling Hong, Zhiyong Wuyi University School of Electronic and Information Engineering Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China Wuyi University School of Mechanical and Automation Engineering Jiangmen China Guangdong Kejie Technology Co. Ltd Jiangmen529020 China

ISBN: (纸本)9798331509712

A control method based on disturbance observer is proposed to address the positioning drift issue of the gantry crane under unmatched disturbances, aiming at precise positioning of the trolley and effective payload swing angle attenuation in a variable-length two-dimensional lifting system. The control scheme comprises a combination of a proportional-derivative controller and a disturbance observer. Firstly, the design of the coupling function in this paper is based on the observation of the natural characteristics of the dynamical model. It cleverly designs the coupling function, which not only helps to effectively reduce the swing angle but also prevents the problem of positioning drift under non-matching disturbances, subsequently, design a controller by integrating intelligent computing with control theory. Secondly, the designed disturbance observer observes and compensates for the system output to achieve disturbance suppression. Thirdly, a thorough stability analysis has been conducted to demonstrate that the proposed controller satisfies the desired conditions. Finally, simulation results illustrate that the pro-posed method success-fully addresses the limitations of existing methods and exhibits superior performance and robustness. © 2024 IEEE.

关键词： Gantry cranes

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New Adaptive ESO Based Data-Driven Anti-Disturbance control for nonlinear Systems with Convergence Guarantee 12

New Adaptive ESO Based Data-Driven Anti-Disturbance Control ...

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12th IFAC symposium on Advanced control of Chemical Processes (ADCHEM)

作者： Hao, Shoulin Gong, Yihui Ahmad, Naseem Yue, Shuhao Liu, Tao Dalian Univ Technol Minstry Educ Key Lab Intelligent Control & Optimizat Ind Equip Dalian 116024 Peoples R China Dalian Univ Technol Inst Adv Control Technol Dalian 116024 Peoples R China

In this paper, a new adaptive extended state observer based data-driven anti-disturbance control (AESO-DDADC) design is proposed for industrial nonlinear systems with unknown dynamics subject to external disturbances. By reformulating such system description into a compact-form dynamic linearization model with a residual term, a new AESO is firstly constructed to estimate the residual term using the partial derivative (PD) estimation from the previous time step, such that the residual term could be proactively counteracted by the feedback control law, in contrast to the existing data-driven ESO where the residual term in the PD estimation is absolutely neglected to facilitate the convergence analysis. Then, the bounded convergence of PD estimation and AESO is jointly analyzed by the Gerschgorin disk theorem, followed by robust convergence analysis of the established closed-loop system. Moreover, another AESO-DDADC scheme is developed using a partial-form dynamic linearization model of the system, along with rigorous robust convergence analysis. Finally, an illustrative example is shown to confirm the efficacy and advantages of the proposed designs. Copyright (C) 2024 The Authors.

关键词： nonlinear systems data driven adaptive extended state observer anti-disturbance control convergence analysis

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Robust Braking Pressure control for an Electrohydraulic Brake System under Friction and Disturbance Conditions 12

Robust Braking Pressure Control for an Electrohydraulic Brak...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： El-bakkouri, Jamal Mansouri, Adil Ouadi, Hamid El Aoumari, Abdelaziz El Khlifi, Younes Giri, Fouad Hassan II Univ Casablanca ENSEM BP 8118 Casablanca Morocco Hassan II Univ Casablanca ENSET Mohammedia Casablanca Morocco Mohammed V Univ Rabat ENSAM Rabat Morocco Univ Caen Normandie LIS Lab Caen France

This paper addresses the challenges in hydraulic pressure control for an electrohydraulic brake (EHB), considering nonlinearities and uncertainties such as friction and parameter variations. The proposed solution is a robust integral backstepping control (IBC) strategy, which incorporates motor current dynamics and the LuGre friction model. A nonlinear observer is introduced to estimate the unmeasurable internal state of the LuGre model. The IBC is applied to pressure control for the EHB, resulting in improved steady-state behavior and robustness. The paper concludes with a global stability analysis using Lyapunov theory and performance validation through simulation using MATLAB/Simulink.

关键词： Electrohydraulic brake Integral backstepping LuGre observer Lyapunov

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A novel anti-disturbance control of quadrotor UAV considering wind and suspended payload 6

A novel anti-disturbance control of quadrotor UAV considerin...

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6th International symposium on Autonomous Systems, ISAS 2023

作者： Li, Bo Zhu, Xiaoyuan Shanghai Maritime University School of Logistics Engineering Shanghai201306 China Southeast University School of Mechanical Engineering Nanjing211189 China

ISBN: (纸本)9798350316155

This paper explores a novel anti-disturbance control strategy for quadrotor unmanned aerial vehicle (UAV). Firstly, the dynamics equations of suspended payload and quadrotor UAV are established. Then, extended state observer (ESO) and nonlinear disturbance observer (NDO) are devoted to design a novel control scheme, in which ESO is applied to deal with system uncertainties and external wind disturbance, while NDO is used to suppress payload perturbation for position loop. Finally, based on stability analysis and comparison simulation, the contribution of this study to the development of UAV anti-disturbance is validated. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Sensorless nonlinear control based on integral backstepping technique for PMSG- based wind energy conversion system 12

Sensorless nonlinear control based on integral backstepping ...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： Fathelkhair, Abdelmoghit Abouobaida, Hassan Mchaouar, Youssef Abouelmahjoub, Younes Oualifi, Khadija Akli, Hajar Univ Chouaib Doukkali Natl Sch Appl Sci LabSIPE El Jadida 24002 Morocco

This article addresses the control of the wind energy conversion system (WECS) based on a permanent magnet synchronous generator (PMSG) connected to the grid through a three-phase rectifier and an inverter followed by an L filter. Two observers have been developed to estimate the mechanical torque of the PMSG and the rotor flux. Integral backstepping control (IBC) has been employed to regulate the wind energy conversion system. Its objective is to achieve maximum power point tracking while maintaining the bus voltage at its reference and regulating the injected power into the grid to ensure a unity power factor. The developed control approach has been tested using Matlab/Simulink and compared with the linear PI controller. Simulation results demonstrate, on one hand, the robustness, efficiency, and superiority of the nonlinear technique employed, and on the other hand, the dynamic performance of the developed observers.

关键词： WECS PMSG Integral Backstepping control Flux observer Power factor HGO

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Sensorless integral backstepping control of a single-stage photovoltaic system connected to the single-phase grid using a multi-level NPC inverter with an LCL filter 12

Sensorless integral backstepping control of a single-stage p...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： Chakiri, S. Abouelmahjoub, Y. Mchaouar, Y. Abouobaida, H. Giri, F. Khentaoui, O. Univ Chouaib Doukkali Natl Sch Appl Sci LabSIPE El Jadida 24002 Morocco Univ Caen Basse Normandie LAC LAB EA 7478 Caen France

In this paper, the control problem of a single-phase, grid-tied photovoltaic (PV) system consisting of a three-level neutral point clamped (3L-NPC) inverter and an LCL filter is considered. The proposed controller aims at achieving threefold control objectives: (i) guaranteeing the PF correction (PFC) objective by enforcing the current of the grid to track a sinusoidal reference signal in phase with the grid voltage;(ii) controlling the DC bus capacitor voltages to follow a reference value provided by the maximum power point tracking (MPPT) algorithm to achieve the maximum available PV power;(iii) ensuring a balanced power exchange through the regulation of the two input capacitor voltages to the same values. To achieve these aims, a multi -loop nonlinear controller is synthesized, including three control loops, specifically the inner PFC requirement loop designed through the integral backstepping approach, the outer voltage control loop formulated using a filtered proportional integral (PI) regulator, and the power balance loop built up using a PI regulator. The control problem under consideration entails several difficulties as the existence of numerous state variables that are inaccessible to measurements. This challenge is addressed by adding a high-gain observer to estimate the current of the solar panels. The performance of the proposed controller against climate changes is demonstrated via numerical simulations using the MATLAB/Simulink platform. Copyright (c) 2024 The Authors.

关键词： Photovoltaic system Three-level neutral point clamped inverter Integral backstepping MPPT Power factor correction High-gain observer Voltage balance nonlinear control PI controller

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Equivariant Filters are Equivariant 12

Equivariant Filters are Equivariant

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Gada, Hiya van Goor, Pieter Banavar, Ravi N. Mahony, Robert Indian Inst Technol Mumbai 400076 Maharashtra India Australian Natl Univ Canberra ACT 2600 Australia

ISBN: (纸本)9781713872344

observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, and mechatronics. This paper builds on the theory of the recently proposed Equivariant Filter (EqF), which is a general observer design for systems on homogeneous spaces that takes advantage of symmetries to yield significant performance advantages. It is shown that the EqF error dynamics are invariant to transformation of the input signal and equivariant as a parametrised vector field. The main theorem shows that two EqF's with different choices of local coordinates and origins and with equivalent noise modelling yield identical performance. In other words, the EqF is intrinsic to the system equations and symmetry. This is verified in a simulation of a 2D robot localisation problem, which also shows how the ability to choose an origin for the EqF can yield practical performance advantages by mitigating floating point precision errors.

关键词： nonlinear observersEquivariant SystemsLie Group Systems

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observer-Based controller design for a Class of Discrete-Time Takagi-Sugeno Models: Application to One-Link Flexible Joint Robot 1

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International symposium on Automatic control and Emerging Technologies, ACET 2023

作者： Bentahra, Boutayna Bouassem, Karim El Assoudi, Abdellatif El Yaagoubi, El Hassane Laboratory of High Energy Physics and Condensed Matter Faculty of Science Ain Chock Hassan II University of Casablanca Casablanca Morocco ECPI Department of Electrical Engineering ENSEM Hassan II University of Casablanca Casablanca Morocco

ISBN: (数字)9789819701261

ISBN: (纸本)9789819701254

The present paper addresses the problem of a dynamic output feedback controller for discrete-time nonlinear systems described by the Takagi-Sugeno (T-S) fuzzy models with measurable premise variables. After a brief introduction outlining the proposed approach, we present both the feedback controller and observer design for the considered class. Then, in terms of linear matrix inequalities, the existence conditions of an output stabilizing feedback controller are defined. Finally, an illustrative application of a one-link flexible joint robot is given to show the effectiveness of the suggested approach. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Linear matrix inequalities

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Adaptive Path Following control Based on nonlinear Disturbance observer for a Six Thrusters AUV 5

Adaptive Path Following Control Based on Nonlinear Disturban...

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5th World Robot Conference symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Ji, Daxiong Xu, Minghui Wang, Xinwei Ye, Zhangying The Institute of Marine Electronic and Intelligent System Ocean College Zhejiang University Zhoushan316000 China The Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province Zhoushan316000 China The Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Zhoushan316000 China Huzhou Institute of Zhejiang University Huzhou313299 China Zhejiang University College of Biosystems Engineering and Food Science Hangzhou310000 China

ISBN: (纸本)9798350307320

In this paper, we investigate the path following problem of a six-thruster autonomous underwater vehicle (SAUV) moving on the horizontal plane. Neural network adaptive PID control method based on NDO (BNNPID) is proposed. External disturbance and model uncertainty are taken into account in controller design. A nonlinear disturbance observer (NDO) is designed for disturbances observation. Theoretical derivation and simulation experiments have demonstrated the stability of this observer. We combine NDO and PID controller and use BP neural networks to adjust controller parameters online. In order to improve the correlation between controller parameters and system state, adaptive control is introduced. The robustness and effectiveness of the proposed controller are tested and validated through simulation results. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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