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Trajectory Tracking control for Manipulator Considering nonlinear Characteristics 8

Trajectory Tracking Control for Manipulator Considering Nonl...

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8th International symposium on Computer Science and Intelligent control, ISCSIC 2024

作者： Tian, Dongyu Feng, Jiaqing Zhang, Lei Tian, Rong Xi'an Polytechnic University School of Electronics and Information Xi'an China

ISBN: (纸本)9798350380286

To mitigate the impreciseness in joint tracking control for manipulator systems with input saturation due to external disturbance, parameter uncertainty and dead zone nonlinearity, a fast non-singular terminal sliding mode active disturbance rejection control (FNTSM-ADRC) method was proposed. The active disturbance rejection control (ADRC) framework served as the basis for the proposed controller's design. An improved extended state observer (ESO) was introduced for feedback compensation to observe and estimate the lumped disturbance. Furthermore, the control law was designed by using the fast non-singular terminal sliding mode (FNTSM) combined with the improved reaching law, which accelerated the speed of the state reaching the sliding mode surface (SMS) and the better demand for chattering reduced and control precision can be achieved. Finally, the system stability was verified by the Lyapunov stability criterion. Simulation and experimental results demonstrate that the proposed tracking algorithm exhibits better control performance as well as anti-interference capability. © 2024 IEEE.

关键词： Stability criteria

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Improved Fractional-Order Sliding Mode controller for Frequency Regulation of a Hybrid Power System With nonlinear Disturbance observer

Improved Fractional-Order Sliding Mode Controller for Freque...

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13th International symposium on Linear Drives for Industry Applications (LDIA)

作者： Guha, Dipayan Roy, Provas Kumar Banerjee, Subrata Motilal Nehru Natl Inst Technol Allahabad Elect Engn Prayagraj 211004 Uttar Pradesh India Kalyani Govt Engn Coll Dept Elect Engn Kalyani 741235 W Bengal India Natl Inst Technol Durgapur Elect Engn Durgapur 713209 W Bengal India

With extensive integration of renewable resources and ever-rising consumer demand, the existing power systems inevitably experience the somber frequency instability problem. This work attempts to design and apply a nonlinear disturbances observer (NDO)-aided improved resilient controller to minimize the frequency deviation of a hybrid power system (hy-PS) following unknown/uncertain system disturbances. The NDO is developed to estimate time-varying uncertain bounded plant disturbance, including parametric uncertainties, load fluctuation, unsteady wind velocity, and unmodelled system dynamics. Subsequently, an active disturbance rejection control is implemented using an improved fractional-order sliding mode controller (iFOSMC) having NDO integrated to cope with system disturbances and offer finite-time asymptotic state convergence to the equilibrium point with least oscillations in control effort. Finite-time convergence of estimation error and asymptotic stability of the developed closed-loop system is also provided by applying the Lyapunov argument to guarantee the reliability of the proposed control algorithm. Besides, the mastery of the proposed NDO-aided iFOSMC compared to other well-known controllers has been demonstrated through comparative study under different perturbed conditions. The obtained system outputs show the high-effective performance of the proposed NDO-aided iFOSMC in terms of faster disturbance compensation, least chattering in control effort, and improved system outputs. The efficacy of the proposed frequency controller has also been tested against false data injection (FDI) attacks in a cyber-physical environment.

关键词： Cyber-physical system fractional-order controller frequency regulation hybrid power system nonlinear disturbance observer resiliency

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Fault-Tolerant control for A Class of Switched nonlinear Systems with Actuator Faults 7

Fault-Tolerant Control for A Class of Switched Nonlinear Sys...

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2023 7th International symposium on Computer Science and Intelligent control, ISCSIC 2023

作者： Ding, Zexian Ren, Wenjing Hefei University of Technology School of Electrical Engineering and Automation Hefei China

ISBN: (纸本)9798350342987

This article studies the fault-Tolerant control (FTC) issue of a class of nonlinear switching systems with actuator faults. To estimate states that are not available, a high-gain observer is utilized to eliminate the influence of inaccurate estimation of nonlinear function on state estimation, which is difficult for traditional observers to achieve. The fault-Tolerant controller proposed in this article is based on a backstepping design approach, which successfully addresses actuator faults and resists time-varying disturbances caused by faults. At the same time, the output signal is capable of tracking the desired output signal effectively. The switching strategy based on average dwell time (ADT), which is less conservative in practice, ensures the overall stability of the system and guarantees that all signals in the system are bound. The effectiveness of the presented approach is illustrated using the example of an electromagnetic suspension system. © 2023 IEEE.

关键词： Backstepping

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International symposium on Automatic control and Emerging Technologies, ACET 2023

International Symposium on Automatic Control and Emerging Te...

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International symposium on Automatic control and Emerging Technologies, ACET 2023

ISBN: (纸本)9789819701254

The proceedings contain 72 papers. The special focus in this conference is on Automatic control and Emerging Technologies. The topics include: Optimization Techniques of Circular Pad design for Efficient Wireless Charging of Electric Vehicles;a Game Guidance Law Based on Model Predictive control;PEM Fuel Cell Parameters Identification Based on Grey Wolf Optimization Algorithm;control of Interleaved Dual Boost Converter for Solar PV-Systems;speech Enhancement Based on the Combination of Deep Learning and Wavelet Algorithm;hybrid Automaton-Fuzzy control of Three-Phase Four-Wire Shunt Active Power Filter with Split Capacitor;design and Validation of a Backstepping controller for Energy Storage Systems in EVs;tent Chaotic Virtual Force Algorithm Based Node Deployment of Wireless Sensor Network in Airport Terminal;An Optical-Flow-Assisted Navigation Method for UAVs Using Sage-Husa EKF;nonlinear control design of Three Terminal HVDC Transmission Systems to Improve FRT Capability;Backstepping-Based control of Single-Phase AC-DC Bidirectional Power Converter in V2H Charger;Operational Consumption Planning in a Hybrid LV Microgrid: Comparison Between TFWO and MAS Optimization;A Novel Approach of Detecting Malicious Phishing URL Using Self-organizing Map;electrically Heated Catalyst Temperature Tracking Using Extended Kalman Filter Based Supertwisting control;nonlinear control of Three Phase Single Stage Grid Connected PV System Through Half Bridge Power Inverter;Fixed-Time Backstepping RLC of PMSMs;a Hybrid Analysis Approach of Physiological Signals Based on Excessive Sleepiness and Distraction State Detection;energy Efficiency Measures and Technical-Economic Study of a Photovoltaic Self-consumption Installation in Kenitra, Morocco;sliding Mode observer Based Adaptive Model Predictive control for a Disturbed Flexible Manipulator Active Vibration control;case Study Toward a Smart Building.

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12th IFAC symposium on nonlinear control Systems, NOLCOS 2022 - Proceedings

12th IFAC Symposium on Nonlinear Control Systems, NOLCOS 202...

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12th IFAC symposium on nonlinear control Systems, NOLCOS 2022

ISBN: (纸本)9781713872344

The proceedings contain 65 papers. The topics discussed include: variants of two-measure input-to-state stability;on the adaptive tracking problem of time-varying systems using the congelation for variables method;examples for separable control Lyapunov functions and their neural network approximation;stabilization using shifted equilibria for saturated discrete-time linear systems;competitive equilibriums of multi-agent systems over an infinite horizon;minimum-time escape from a circular region for a Dubins car;an actor critic method for free terminal time optimal control;a dual-mode finite-time extremum seeking controller design technique;linear unknown input observers for sensor fault estimation in nonlinear systems;a numerically robust Bayesian filtering algorithm for gaussian mixture models;noise sensitivity reduction in low-power multi high gain observers using low-pass filters;model reduction for quadratic-bilinear time-delay systems using nonlinear moments;and event-triggered fault reconstruction using sliding mode observer.

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Non-fragile observer-based quantized control for a class of one-sided Lipschitz systems 8

Non-fragile observer-based quantized control for a class of ...

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8th IFAC symposium on Systems Structure and control (SSSC)

作者： El Haiek, Badreddine Zoulagh, Taha Barbosa, Karina A. El Hajjaji, Ahmed Univ Santiago Chile USACH Dept Ingn Elect Santiago Chile Univ Picardie Jules Verne Modeling Informat & Syst Lab F-80000 Amiens France

The topic of nonfragile observer design for a class of one-sided Lipschitz nonlinear systems with quantized inputs is investigated in this study. The one-sided Lipschitz and quadratically inner-bounded conditions were used to obtain less conservative synthesis requirements for the observer design. Sufficient conditions, stated in terms of linear matrix inequalities, are supplied using auxiliary variables and a decoupling method to ensure the resilience of the quantized closed-loop. The controller and observer gains may then be found in the same process. An example generated from a nonlinear DC motor model is provided to demonstrate the efficiency of the suggested technique. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Non-fragile observer Quantized input One-sided Lipschitz quadratic inner-bounded LMIs

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Composite Anti-Disturbance control for Interval Type-2 Fuzzy System via Disturbance observer 5

Composite Anti-Disturbance Control for Interval Type-2 Fuzzy...

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5th International symposium on Autonomous Systems, ISAS 2022

作者： Sun, Zhe Yao, Xiuming Beijing Jiaotong University School of Electronics and Information Engineering Beijing100044 China

ISBN: (纸本)9781665487085

This paper concentrates on the matter of composite disturbance-observer-based control (DOBC) for nonlinear object provided with parameter uncertainties and the disturbance. The nonlinear system containing uncertainties is depicted by an interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy model. Based on the DOBC method, a disturbance observer is established to cancel out the disturbance produced by a single exogenous system. Then, the composite system is designed by combining the disturbance estimation with basic feedback control law, which can be promised to remain stable. Some stability results are acquired to ameliorate stability performance in the light of the Lyapunov theory. Finally, a numerical example is put forward to indicate the feasibility of the design theoretical method. © 2022 IEEE.

关键词： Numerical methods

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Online Gyro Bias Estimation from Single Vector Measurements Using Regression Models ^☆ 12

Online Gyro Bias Estimation from Single Vector Measurements ...

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Yi, Bowen Wang, Lei Zhang, Weidong Univ Sydney Australian Ctr Field Robot Sydney NSW 2006 Australia Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Hainan Univ Sch Informat & Commun Engn Haikou 570228 Hainan Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

ISBN: (纸本)9781713872344

This paper addresses the problem of on-line consistent estimation of gyro bias using the measurements of a single vector and the biased angular velocity - both in the body-fixed frame. We propose two globally convergent gyro bias observers using new regression models, which are capable to deal with the cases of constant and time-varying reference vectors, respectively. Indeed, there are quite a few works discussing the latter case. To address this, we derive a nonlinear regression model, based on which a convexified gradient descent observer is designed, providing globally asymptotically convergent estimates to the gyro bias under some sufficient excitation conditions. The proposed schemes are illustrated by some numerical simulations.

关键词： nonlinear systemsobserverparameter identificationrobotics

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Sensorless control of Electrically Excited Synchronous Machines Using Moving Horizon Estimation Considering nonlinear Flux Linkage 22

Sensorless Control of Electrically Excited Synchronous Machi...

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22nd International symposium on Power Electronics, Ee 2023

作者： Pang, Yuebin Knezevic, Jovan Glose, Daniel Hackl, Christoph Bmw Ag Munich Germany University of Applied Sciences Munich Germany

ISBN: (纸本)9798350343175

The extended Kalman filter (EKF) is widely used for state estimation considering parameter uncertainties and measurement noise. For systems with significant nonlinearity, moving horizon estimation becomes an interesting alternative to the EKF. The electrically excited synchronous machine (EESM) usually inherits a large nonlinearity in the flux linkage for operation under field weakening. Recent active flux models consider the flux linkage nonlinearity in observer design, which improves the estimation performance. In this paper, the MHE is applied for the sensorless EESM drive based on the active flux model considering the flux linkage nonlinearity. The nonlinearity of the observer caused by speed and current variations is considered. Two types of cost functions are compared. The comparative simulation results are studied for MHE and EKF, with respect to both speed and torque step changes. © 2023 IEEE.

关键词： Flux linkage

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An I & I Adaptive Redesign Approach for Asymptotic Stability without PE 12

An I & I Adaptive Redesign Approach for Asymptotic Stability...

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Wang, Lei Yi, Bowen Su, Hongye Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Univ Sydney Australian Ctr Field Robot Sydney NSW 2006 Australia

ISBN: (纸本)9781713872344

This paper proposes an adaptation redesign approach of the immersion and invariance (I&I) adaptive control to achieve asymptotic stability of the controlled plant and the parameter estimator at the desired equilibrium. The key idea is to employ the technique of generalized parameter estimation-based observer on the parameter estimation error dynamics by applying the indirect I & I adaptive control scheme, yielding a linear regression equation, from which the adaptive law can be redesigned. As a result, it is shown that globally exponential parameter convergence can be guaranteed under an interval excitation (IE) condition, which is much weaker than the conventionally required persistent excitation. Under a stabilizability assumption, an adaptation-redesigned feedback control law can be designed to achieve global asymptotic stability at the desired equilibrium point under the IE condition. The proposed adaptive control approach is applied to a class of parameteric strict-feedback systems without overparameterization, which is needed by the standard I & I adaptive control.

关键词： Immersioninvarianceparameter estimationadaptation redesign

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