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检索条件"任意字段=Symposium on Nonlinear Control and Observer Design"

共 495 条记录，以下是51-60 订阅

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control and Test Research of Semi-active Low-Frequency Vibration Isolator Based on Time Delay Estimation 8th

Control and Test Research of Semi-active Low-Frequency Vibra...

引用

8th Asia International symposium on Mechatronics, AISM 2021

作者： Meng, Qingyi Chen, Xiaoqian School of Aerospace Science National University of Defense Technology Changsha410073 China Beijing Spacecrafts Co. Ltd. Beijing100094 China Defense Innovation Institute Beijing100071 China

ISBN: (纸本)9789811913082

To study the semi-active nonlinear low-disturbance follower, based on the time delay interference observer and the sky-hook damping control theory, a simple structure and strong practical control strategy are proposed, and based on this design A control system of semi-active low-frequency vibration isolator based on time delay estimation is proposed. According to the designed control system, the simulation analysis of its control performance under sinusoidal excitation and random excitation was carried out, and a set of experimental systems was established to verify the experiment. The simulation and test results show that the control system is in the low and mid-frequency bands, and has a lower vibration displacement transmission rate, and the greater the interference of the glass, the better the control. © 2022, Science Press.

关键词： Feedback linearization

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

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

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Artificial Intelligence and Intelligent Manufacturing (AIIM), International symposium on

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

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

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 $\mathbf{3 2. 7 \%}$ 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.

关键词： Temperature measurement Accuracy Volume measurement Noise Propulsion Temperature control Delays Noise measurement State estimation Convergence

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

Adaptive Path Following Control Based on Nonlinear Disturban...

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WRC symposium on Advanced Robotics and Automation (WRC SARA)

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

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.

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

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

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International symposium on Autonomous Systems (ISAS)

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

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.

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

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

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International symposium on Computer Science and Intelligent controls (ISCSIC)

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

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.

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Trajectory Tracking control for Manipulator Considering nonlinear Characteristics

Trajectory Tracking Control for Manipulator Considering Nonl...

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International symposium on Computer Science and Intelligent controls (ISCSIC)

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

ISBN: (数字)9798350380286

ISBN: (纸本)9798350380293

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.

关键词： Robust control Computer science Uncertain systems Trajectory tracking Stability criteria Manipulators control systems State estimation Lyapunov methods Intelligent control

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Bridging on-line systems modeling with fault detection for a class of unknown nonlinear distributed parameter systems 11th

Bridging on-line systems modeling with fault detection for a...

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11th International-Federation-of-Automatic-control (IFAC) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Feng, Yun Wang, Yaonan Zhang, Yazhi Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China Hunan Univ Natl Engn Res Ctr Robot Visual Percept & Control Changsha 410082 Hunan Peoples R China Hunan Inst Engn Coll Elect & Informat Engn Xiangtan 411104 Peoples R China

Different from the traditional model-based fault diagnosis paradigm which is established upon the well-known observer design and analysis, a novel data-driven framework is proposed by combing systems modeling with fault detection for a class of 1-D unknown distributed parameter systems. The key idea is to transfer the on-line modeling error into the residual signal for fault detection. The proposed methodology only utilizes the I/O data and does not require extra knowledge of the system model, which increases its usability at large. Numerical simulations on a commonly used benchmark are presented for method validation. Copyright (C) 2022 The Authors.

关键词： AI and FDI methods Neural approximations for optimal control and estimation FDI for nonlinear Systems Distributed parameter systems

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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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design of Model Predictive control with nonlinear Disturbance observer for Electric Power Steering System

Design of Model Predictive Control with Nonlinear Disturbanc...

引用

SICE International symposium on control Systems (SICE ISCS) as a part of the 5th SICE Multi-symposium on control Systems (MSCS)

作者： Fujimura, Yu Hashimoto, Seiji Banjerdpongchai, David Gunma Univ Sch Sci & Technol Div Elect & Informat Gunma Japan Chulalongkorn Univ Dept Elect Engn Fac Engn Bangkok Thailand

ISBN: (纸本)9784907764623

Considering modern vehicles, electric power steering (EPS) system is one of the most important systems to design the vehicle maneuverability. In this paper, we propose a control method to assist human-steering in order to improve the steering feel by using advanced process control with affinity to autonomous machine-steering. The proposed design is used to manipulate the steering angle so as to follow the reference steering angle while minimizing the quadratic cost function. The proposed control framework consists of three controllers: model predictive control (MPC), nonlinear disturbance observer (NDO), and reference generator. The MPC makes the steering angle follow the reference steering angle generated from the reference angle generator. The NDO estimates steering torque and disturbances from road such as self-aligning torque. The reference generator provides reference steering angle from the assist map and steering torque. We also describe how to adjust the cost function to design the steering feel. The performance of the proposed control system is evaluated and compared to the conventional basic assist control through simulation.

关键词： Model predictive control nonlinear disturbance observer reference generator electric power steering steering feel

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Disturbance observer-based fault-tolerant control of UAV with obstacle avoidance

Disturbance observer-based fault-tolerant control of UAV wit...

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Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), CAA symposium on

作者： Liang Han Ziquan Yu Zhongyu Yang Yuehua Cheng Bin Jiang Youmin Zhang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC Canada

This paper studies the fault-tolerant control (FTC) of fixed-wing unmanned aerial vehicle (UAV) with obstacle avoidance. Firstly, the path planning of the UAV is realized by improving the traditional artificial potential field (APF) method to achieve obstacle avoidance. The improved APF method solves the unreachable target and local minimum problems existing in the traditional APF. Secondly, the lumped uncertainty composed of the thrust fault, external disturbances and parameter inaccuracies is estimated by the nonlinear disturbance observer. In addition, an FTC scheme based on nonsingular fast terminal sliding mode (NFTSM) is proposed for UAV under thrust fault. Finally, simulation is used to confirm that the design plan is proper.

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