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4th International symposium on Neural Networks (ISNN 2007)

作者： He, Huafeng Liu, Yunfeng Yang, Xiaogang Xian Res Inst High Tech Hongqing Town 710025 Peoples R China

ISBN: (纸本)9783540723820

The position tracking control of a missile electro-hydraulic servo system is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in parameters and external disturbance, a design method of sliding mode control (SMC) using recurrent fuzzy neural network (RFNN) is proposed. First a SMC system, which is insensitive to uncertainties including parameter variations and external disturbance, is introduced. Then, to overcome the problems with SMC, such as the assumption of known uncertainty bounds and the chattering phenomena in the control signal, an RFNN is introduced in conventional SMC. An RFNN bound observer is utilized to adjust the uncertainty bounds in real time. Simulation results verify the validity of the proposed approach.

关键词： Hydraulic servomechanisms

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Robust yaw stability controller design for a light commercial vehicle using a hardware in the loop steering test rig

Robust yaw stability controller design for a light commercia...

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IEEE Intelligent Vehicles symposium

作者： Oncu, Sinan Karaman, Sertac Guvenc, Levent Ersolmaz, S. Server Ozturk, E. Serdar Cetin, Emre Sinal, Mustafa Istanbul Tech Univ Automot Control & Mechatron Res Ctr TR-34437 Istanbul Turkey Ford Otosan TR-41670 Golcuk Turkey

ISBN: (纸本)9781424410675

This paper is on designing a multi-objective, robust parameter space steering controller for yaw stability improvement of a light commercial vehicle and its testing on a hardware-in-the-loop steering test rig. A linear single track model of the light commercial vehicle is used for controller design while its nonlinear version is used during hardware-in-the-loop simulations. The multi-objective design method used here maps D-stability, mixed sensitivity and phase margin bounds into the parameter space of chosen disturbance observer based steering controller filter parameters. The resulting controller design is tested using offline and hardware-in-the-loop simulations. A hardware-in-the-loop simulation test rig with the actual rack and pinion mechanism of the light commercial vehicle under study was built for this purpose. The steering control actuator is placed on the second pinion of the double pinion steering test system used. The hardware and geometry of the steering test rig are identical to the implementation of the steering system in the test vehicle. Unnecessary and expensive road testing is avoided with this approach as most problems are identified and solved in the hardware-in-the-loop simulation phase conducted in the laboratory where the steering subsystem and its controller exist as hardware and the rest of the vehicle being implemented exists as real time capable software. Hardware-in-the-loop simulation results show the effectiveness of the controller design proposed in this paper in tracking desired steering dynamics and in rejecting yaw disturbance moments.

关键词： Hardware-in-the-loop simulation

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nonlinear approach for the VFA regulation in an anaerobic digester 10th

Nonlinear approach for the VFA regulation in an anaerobic di...

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10th IFAC symposium on Computer Applications in Biotechnology, 2007

作者： Méndez-Acosta, H.O. Palacios-Ruiz, B. Steyer, J.P. Alcaraz-González, V. Latrille, E. González-Álvarez, V. Departamento de Ingeniería Química CUCEI-Universidad de Guadalajara Blvd. M. García Barragán 1451 Guadalajara JalC.P. 44430 Mexico INRA UR050 Laboratoire de Biotechnologie de l'Environnement Avenue des Etangs NarbonneF-11100 France

ISBN: (纸本)9783902661616

This paper presents the design and the experimental validation of a nonlinear control approach for the regulation of volatile fatty acids (VFA) in an anaerobic digester. Such an approach is conformed by an output feedback control and an extended Luenberger observer which allows the estimation of the uncertain terms associated to the VFA dynamics (i.e., influent composition and kinetic terms). The nonlinear approach is experimentally validated in a 0.528m3 up-flow fixed-bed anaerobic digester used for the treatment of industrial wine distillery wastewater. The experimental results show that the VFA regulation is achieved in spite of uncertain kinetics, restrictions in the control input and unknown load disturbances. Copyright © 2007 IFAC.

关键词： Anaerobic digestion

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Discrete-Time Output Trajectory Tracking for Induction Motor using a Neural observer

Discrete-Time Output Trajectory Tracking for Induction Motor...

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IEEE International symposium on Intelligent control (ISIC)

作者： Alma Y. Alanis Edgar N. Sanchez Alexander G. Loukianov CINVESTAV Unidad Guadalajara Guadalajara Jalisco Mexico CINVESTAV Unidad Guadalajara Mexico CUCEI Universidad de Guadalajara Mexico

This paper presents the design of an adaptive controller based on the block control technique, and a new neural observer for a class of MIMO discrete-time nonlinear systems. The observer is based on a recurrent high-order neural network (RHONN), which estimates the state vectors of the unknown plant dynamics. The learning algorithm for the RHONN is based on an extended Kalman filter (EKF). This paper also includes the respective stability analysis, using the Lyapunov approach, for the whole system, which includes the nonlinear plant, the neural observer trained with the EKF and the block controller. Applicability of the proposed scheme is illustrated via simulation for a discrete-time nonlinear model of an electric induction motor.

关键词： Trajectory Induction motors observers nonlinear control systems control systems Programmable control Adaptive control MIMO nonlinear systems Neural networks

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Near Optimal Neural Network-based Output Feedback control of Affine nonlinear Discrete-Time Systems

Near Optimal Neural Network-based Output Feedback Control of...

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IEEE International symposium on Intelligent control (ISIC)

作者： Qinmin Yang S. Jagannathan Department of Electrical & Computer Engineering University of Missouri Rolla MO USA

In this paper, a novel online reinforcement learning neural network (NN)-based optimal output feedback controller, referred to as adaptive critic controller, is proposed for affine nonlinear discrete-time systems, to deliver a desired tracking performance. The adaptive critic design consist of three entities, an observer to estimate the system states, an action network that produces optimal control input and a critic that evaluates the performance of the action network. The critic is termed adaptive as it adapts itself to output the optimal cost-to-go function which is based on the standard Bellman equation. By using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the estimation and tracking errors and weight estimates is demonstrated. The effectiveness of the controller is evaluated for the task of nanomanipulation in a simulation environment.

关键词： Neural networks Output feedback Optimal control nonlinear control systems control systems Programmable control Adaptive control Learning observers State estimation

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Robust Yaw Stability controller design for a Light Commercial Vehicle Using a Hardware in the Loop Steering Test Rig

Robust Yaw Stability Controller Design for a Light Commercia...

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IEEE symposium on Intelligent Vehicle

作者： Sinan Oncu Sertac Karaman Levent Guvenc S. Server Ersolmaz E. Serdar Ozturk Emre Cetin Mustafa Sinal Automotive Control and Mechatronics Research Center Istanbul Technical University Taksim Istanbul Turkey Ford Otosan Gölcük Kocaeli Turkey

关键词： Robust stability Robust control Lighting control Hardware System testing Space vehicles design methodology Filters control systems Actuators

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Adaptive tuning to bifurcation for time-varying nonlinear systems

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AUTOMATICA 2006年第3期42卷 417-425页

作者： Efimov, DV Fradkov, AL Inst Problems Mech Engn Control Complex Syst Lab St Petersburg 199178 Russia

Adaptive output feedback control algorithm providing exact tuning of adjustable parameters to unknown values which ensure desired bifurcation properties of the system is proposed. design of the algorithm is based on passification and adaptive observer. Application examples like neural integrator, resonant pendulum and three dimensional oscillator, are presented and illustrated by simulation results. (C) 2005 Elsevier Ltd. All rights reserved.

关键词： adaptive systems observers oscillation resonance

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nonlinear predictive control with disturbance observer for induction motor drive

Nonlinear predictive control with disturbance observer for i...

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IEEE International symposium on Industrial Electronics

作者： Merabet, Adel Ouhrouche, Mohand Bui, Rung-Tien Univ Quebec Chicoutimi Elect Machines Identificat & Control Lab 555 Blvd Univ Chicoutimi PQ G7H 2B1 Canada

ISBN: (纸本)9781424404964

A nonlinear predictive control (NPC) law with a disturbance observer is presented. It is applied to induction motor in order to track speed and flux profiles. The prediction defined on finite horizon is carried out via Taylor series expansion. The load torque is considered as an unknown disturbance and it is estimated by a nonlinear observer. Using the nonlinear predictive control has simplified the structure of the dynamic observer. The combination of the predictive controller and the observer works as a nonlinear controller with an integral action. The stability of the whole system can be achieved by simple design parameters. The simulations show very satisfactory performance of the proposed controller for trajectories tracking, the robustness to parameters variations and the disturbance rejection are successfully achieved.

关键词： Induction motors

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Discrete time nonlinear recurrent high order neural observer

Discrete time nonlinear recurrent high order neural observer

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IEEE International symposium on Intelligent control

作者： Alanis, Alma Y. Sanchez, Edgar N. Loukianov, Alexander G. CINVESTAV Unidad Guadalajara Apartado Postal 31-438Plaza La Luna Guadalajara 45091 Jalisco Mexico

ISBN: (纸本)9780780397989

This paper presents the design of an adaptive recurrent neural observer for nonlinear systems, whose mathematical model is assumed to be unknown. The observer is based on a recurrent high order neural network (RHONN), which estimates the state vector of the unknown plant dynamics. The learning algorithm for the RHONN is based on an extended Kalman filter. This paper also includes the respective stability analysis, on the basis of the Lyapunov approach, for the neural observer trained with the extended Kalman filter. Some simulation results are included to illustrate the applicability of the proposed scheme.

关键词： Discrete time systems recurrent high order neural observer extended Kalman filtering nonlinear observer

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Sliding Mode controller along with Feedback Linearization for a nonlinear Missile model

Sliding Mode controller along with Feedback Linearization fo...

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1st International symposium on Systems and control in Aerospace and Astronautics

作者： Das, Abhijit Das, Ranajit Mukhopadhyay, Siddhartha Patra, Amit Indian Inst Technol Syst & Informat Lab Kharagpur West Bengal India Indian Inst Technol Fac Elect Engn Dept Kharagpur West Bengal India

ISBN: (纸本)0780393953

The traditional three-loop autopilot[11] suffers from coupling in pitch, yaws, roll channel as well as degraded performance due to huge aerodynamic uncertainties. Sliding mode control is applied to design autopilot for skid-to-turn missile (STT) missile systems to overcome the above stated difficulties. The design has two steps. The first step involves feedback linearization and the second stage is to design the sliding mode controller. A comparative simulation results based on a missile model shows the improved performance of the autopilot obtained with this controller over the traditional one. Lastly a nonlinear observer is presented that estimates the required states for feedback linearizing control.

关键词： feedback missile guidance nonlinear control systems variable structure systems STT missile systems aerodynamic uncertainties autopilot design feedback linearization feedback linearizing control nonlinear missile model nonlinear observer skid-to-turn miss guided missile guidance Variable structure systems nonlinear control systems Missile models feedback linearization control Automatic pilots Feedback Sliding mode controllers degraded performance Linearization

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