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Real-time implementation of adaptive nonlinear control of Buck-Boost DC-DC power converter with a continuous input current for fuel cell energy sources

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IFAC-PapersOnLine 2022年第12期55卷 420-425页

作者： Z. El Idrissi H. El Fadil F.Z. Belhaj A. Lassioui K. Gaouzi I. Bentalhik ASE-Lab Ibn TofailUniversity 14000 Kénitra Morocco

Classical Buck-Boost converter (BBC) topologies are known to drain a pulsating current from the input power source which accelerates the aging rate of the fuel cell (FC). In this paper, a Buck-Boost DC-DC converter topology with continuous input current is used. In addition to its input current, the converter offers the advantage of using a reduced number of electronic components. The point is that the internal voltage of the fuel cell is not accessible for measurement. Therefore, based on a nonlinear model of the FC-BBC system, an adaptive nonlinear controller based on the Backstepping technique is developed to meet the following requirements: (i) tracking the DC-bus voltage to its desired value despite the load uncertainties, (ii) asymptotic stability of the closed-loop system using Lyapunov stability tools. The advantage of the proposed control strategy lies in its simplicity compared to the existing nonlinear approaches. Detailed analysis, simulation, and experimental tests show that the proposed controller meets all control objectives, namely: tight dc-bus voltage regulation and asymptotic stability of the closed-loop system. The effectiveness of the proposed approach is verified by simulation using MATLAB® / Simulink®, and by experimental tests using DS 1202 MicroLabBox.

关键词： fuel cell DC-DC Buck-Boost converter adaptive nonlinear control MATLAB® Simulink DS 1202 MicroLabBox

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adaptive, nonlinear control of a third-order Duffing-Holmes type chaotic oscillator 24

Adaptive, nonlinear control of a third-order Duffing-Holmes ...

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24th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Kabzinski, Jacek Mosiolek, Przemyslaw Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781728109336

A general tracking problem is formulated and solved for a third-order Duffing Holmes type chaotic oscillator implemented as an electronic circuit with unknown parameters. Two nonlinear controllers, based on adaptive backstepping techniques, are derived and compared. Both are sufficiently robust and accurate for practical implementation. The same approach may be used for chaos stabilization and synchronization.

关键词： adaptive nonlinear control chaos third-order Duffing Holmes oscillator backstepping

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Fuzzy neural network and observer-based fault-tolerant adaptive nonlinear control of uncertain 5-DOF upper-limb exoskeleton robot for passive rehabilitation

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nonlinear DYNAMICS 2017年第3期87卷 2021-2037页

作者： Mushage, Baraka Olivier Chedjou, Jean Chamberlain Kyamakya, Kyandoghere Univ Klagenfurt Inst Smart Syst Technol Klagenfurt Austria

This paper investigates the control of a 5-DOF upper-limb exoskeleton robot used for passive rehabilitation therapy. The robot is subject to uncertain dynamics, disturbance torques, unavailable fullstate measurement, and different types of actuation faults. An adaptive nonlinear control scheme, which uses a new reaching law-based sliding mode control strategy, is proposed. This scheme incorporates a high-gain state observer with dynamic high-gain matrix and a fuzzy neural network (FNN) for state vector and nonlinear dynamics estimation, respectively. Using dynamic parameters, the scheme provides an efficient mean for simultaneously tackling the effects of FNN approximation errors, disturbance torques and actuation faults without any prior bounds knowledge and fault detection and diagnosis components. Using simulation results, it is shown that with the presented scheme, faster response, fewer oscillations during transient phase, good tracking accuracy, and chattering-free control torques with lower amplitudes are obtained.

关键词： Actuation fault adaptive nonlinear control Upper-limb exoskeleton Fuzzy neural network High-gain state observer

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Slack Variables Generation via QR Decomposition for adaptive nonlinear control of Affine Underactuated Systems

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IFAC-PapersOnLine 2016年第17期49卷 188-193页

作者： Kim, Mingu Hong, Youkyung Lee, Seokwon Kim, Youdan Department of Mechanical and Aerospace Engineering Seoul National University Seoul Korea Republic of

This paper presents a slack variable generation method utilizing QR decomposition for an adaptive nonlinear controller of affine underactuated systems. Slack variables are adopted to overcome nonsquare properties of underactuated systems. QR decomposition has an advantage of fast and accurate calculation to compute least square solution of underdetermined systems. In this paper, the slack variable generation using the QR decomposition is proposed to guarantee the stability of the closed-loop system with an adaptive nonlinear controller. Numerical simulations are performed to verify the performance of the adaptive nonlinear controller with the proposed slack variable generation method for a quadrotor unmanned aerial vehicle and an unmanned helicopter. © 2016

关键词： adaptive control systems Antennas Closed loop systems controllers Numerical methods Unmanned aerial vehicles (UAV) Accurate calculations adaptive control adaptive nonlinear control adaptive nonlinear controllers Quadrotor unmanned aerial vehicles Slack variables Under actuated systems Underdetermined systems

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Decentralized adaptive nonlinear controller for Voltage Regulation of Output-Constrained DC Microgrids With ZIP Loads

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IEEE TRANSACTIONS ON POWER SYSTEMS 2024年第5期39卷 6210-6221页

作者： Bahrami, Somayeh Mousavi, Shima Sadat Shafiee-Rad, Marjan Razi Univ Dept Elect Engn Kermanshah 94Q56G3 Iran Swiss Fed Inst Technol Inst Transport Planning & Syst CH-8092 Zurich Switzerland Shahabdanesh Univ Dept Elect Engn Pardisan GQWW944 Iran

In this article, a decentralized adaptive nonlinear controller is designed for islanded DC microgrids (DCmGs) containing several distributed generation units (DGUs). DGUs are connected by distribution lines represented by a general resistive-inductive-capacitive dynamic model. It is assumed each DGU feeds an unknown nonlinear ZIP (constant impedance 'Z', constant current 'I', and constant power 'P') load at its point of common coupling (PCC). The proposed controller ensures voltage adjustment in the large signal sense in the presence of unknown ZIP loads and DC input voltages, unknown topological changes, and plug-and-play (PnP) operations of DGUs. The current of P-load, as a function of the inverse of the DGU's output voltage, to remain bounded requires that the output voltage never cross zero. To fulfill this requirement, a Barrier Lyapunov Function (BLF) is employed, which gets to infinity when the output voltage becomes zero. Then, the local controller of each DGU is designed based on the adaptive backstepping procedure such that for the closed-loop system, the adopted BLF remains bounded. The boundedness of this BLF ensures that the output voltage never becomes zero, and thus the mentioned singularity is prevented. Each local controller is synthesized independently of the distribution lines and by employing only the values of the local measurements and parameters of the DGU. The efficiency of the proposed nonlinear controller is evaluated by simulating a DCmG system under different scenarios in MATLAB/Simscape Electrical environment.

关键词： decentralized scalable line-independent design adaptive nonlinear control Barrier Lyapunov Function (BLF) ZIP load plug-and-play (PnP) operation Islanded DC microgrid decentralized scalable line-independent design Islanded DC microgrid adaptive nonlinear control Barrier Lyapunov Function (BLF) ZIP load plug-and-play (PnP) operation

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Comprehensive nonlinear control Strategy for VTOL-UAVs With Windowed Output Constraints

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2023年第6期31卷 2673-2684页

作者： Kong, Linghuan Reis, Joel He, Wei Silvestre, Carlos Univ Sci & Technol Beijing Inst Artificial Intelligence Sch Intelligence Sci & Technol Beijing 100083 Peoples R China Univ Sci & Technol Beijing Key Lab Intelligent Bion Unmanned Syst Minist Educ Beijing 100083 Peoples R China Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Macau Peoples R China Univ Lisbon Inst Super Tecn P-1649004 Lisbon Portugal

In this article, we develop a methodology for trajectory tracking control of a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) in the presence of unknown mass and time-varying external disturbances. A time-dependent shift function is introduced, which, alongside a set of barrier vector functions, enables a finite period of constrained outputs, namely, the position and velocity errors. The proposed controller also features two stable adaption laws to estimate the following: 1) the mass of the UAV and 2) a parameter relating to the bound of the external disturbances. The total closed-loop system error is shown to be uniformly ultimately bounded (UUB). This proposed strategy, which requires only the first derivative of the reference trajectory and features an implicit saturation of the thrust force, is especially apt to handle three stages of flight: vertical takeoff, constrained trajectory tracking, and landing. Simulation results are presented to validate the proposed solution. Experimental results are also included to showcase the performance of our controller in a real-world application using a quadrotor vehicle.

关键词： adaptive nonlinear control underactuated autonomous aerial vehicles windowed constrained outputs

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DC Shipboard Microgrids With Constant Power Loads: A Review of Advanced nonlinear control Strategies and Stabilization Techniques

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IEEE TRANSACTIONS ON SMART GRID 2022年第5期13卷 3422-3438页

作者： Hassan, Mustafa Alrayah Su, Chun-Lien Pou, Josep Sulligoi, Giorgio Almakhles, Dhafer Bosich, Daniele Guerrero, Josep M. Natl Kaohsiung Univ Sci & Technol Dept Elect Engn Kaohsiung 807618 Taiwan Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore Univ Trieste Dept Engn & Architecture I-34127 Trieste Italy Prince Sultan Univ Dept Commun & Networks Riyadh 11586 Saudi Arabia Aalborg Univ Ctr Res Microgrids Dept Energy Technol DK-9220 Aalborg Denmark

In modern dc shipboard microgrid (SMG) systems, the propulsion motors and hotel loads are always supplied through tightly regulated point of load converters, which behave as constant power loads (CPLs). The negative incremental impedance due to CPL's characteristics destabilizes the dc bus voltage of dc SMGs. Due to uncertain operating conditions of maritime ships on the sea, the dc bus voltage robust control is a crucial matter. Therefore, this paper presents a cutting-edge systematic review on advanced nonlinear control strategies to stabilize and control the CPLs in dc SMGs, such as sliding mode control, synergetic control, backstepping control, model predictive control, and passivity-based control. The latest stabilization techniques and the future trends towards an adaptive nonlinear control have been presented throughout this review. Several feedforward control-based observation and estimation techniques have been highlighted. The stability analysis and stability challenges of dc SMGs are also discussed.

关键词： Voltage control Marine vehicles Propulsion Impedance Microgrids Generators Stability analysis DC shipboard microgrids constant power load adaptive nonlinear control power electronic converters system stabilization nonlinear disturbance observer

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adaptive recursive gain asymptotic tracking of uncertain nonlinear systems with time-varying parameters and disturbances

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INTERNATIONAL JOURNAL OF control 2025年

作者： Kanchanaharuthai, Adirak Rangsit Univ Coll Engn Dept Elect Engn Pathum Thani 12000 Thailand

This paper focuses on achieving adaptive asymptotic tracking for a class of uncertain nonlinear systems. These systems are distinct from those examined in previous studies due to the presence of unknown time-varying parameters and disturbances. By combining adaptive techniques and recursive gain control, an adaptive tracking controller is successfully devised to accomplish asymptotic tracking. An important distinguishing feature of the proposed controller is its integration of a smooth function with a time-varying function that is both integrable and positive. This integration endows the controller with the capability to effectively compensate for unknown time-varying parameters and disturbances. Notably, a Lyapunov function is used to establish the closed-loop system stability. Simulation results validate the effectiveness of the presented control, surpassing command filter adaptive asymptotic backstepping control and dynamic surface adaptive asymptotic control, addressing the challenge of the 'explosion of complexity,' and achieving asymptotic tracking despite the existence of time-varying parameters and disturbances.

关键词： adaptive nonlinear control asymptotic tracking control uncertain nonlinear systems recursive gain control

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Experimental Validation of a Robust Prescribed Performance nonlinear controller for an Unmanned Aerial Vehicle With Unknown Mass

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第1期29卷 301-312页

作者： Kong, Linghuan Reis, Joel He, Wei Silvestre, Carlos Univ Sci & Technol Beijing Sch Intelligence Sci & Technol Beijing 100083 Peoples R China Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing 100083 Peoples R China Univ Sci & Technol Beijing Key Lab Intelligent Bionic Unmanned Syst Minist Educ Beijing 100083 Peoples R China Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Macau 999078 Peoples R China Univ Lisbon Inst Super Tecn P-1070312 Lisbon Portugal

We develop and experimentally test a prescribed performance control methodology for trajectory tracking of underactuated autonomous aerial vehicles under unknown time-varying disturbances. An extended state observer is first proposed to filter position and velocity measurements, and to compensate for disturbances, including model parametric uncertainty and/or exogenous perturbations, e.g., wind. Then, by resorting to a barrier function and to constraints on the transient and steady-state response of the position error, we derive a thrust command law that follows from a desired stabilizing force. This force is inherently associated with the vehicle's attitude, which is controlled using angular velocity commands. The errors stemming from the closed-loop system are shown to be uniformly ultimately bounded. Simulation results, including comparison data, are presented to validate the proposed solution. Experimental results are also included to showcase the performance of our strategy in a real-world application using a quadrotor vehicle.

关键词： adaptive nonlinear control prescribed performance underactuated autonomous aerial vehicles

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Differential Geometry-Based adaptive nonlinear control Law: Application to an Industrial Refinery Process

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2013年第4期9卷 2014-2022页

作者： Jana, Amiya K. Indian Inst Technol Energy & Proc Engn Lab Dept Chem Engn Kharagpur 721302 W Bengal India

In this contribution, an extended generic model control (EGMC) law is proposed based on differential geometry theory. This multivariable nonlinear control system requires the knowledge of the internal state of the process. To cope with this, an adaptive control scheme is formulated here. This adaptive nonlinear control law combines the EGMC with the Luenberger-type nonlinear state estimator (LNSE). Deriving the control law and the state estimator, the stability properties of the EGMC, LNSE and the combined EGMC-LNSE structure are developed. The application and performance of the proposed adaptive EGMC-LNSE control law are finally illustrated by a simulated industrial refinery process (i.e., debutanizer). The representative column has 169 state variables, and it was operated in the province of Alberta, Canada. It is surprising to note that the LNSE scheme aims to estimate a few states that are solely required for the controller based on only two component balance equations. As a consequence, there exists a significant structural discrepancy and despite it, the proposed nonlinear controller shows its superiority over the multivariable dynamic matrix controller.

关键词： adaptive nonlinear control debutanizer column extended generic model control (EGMC) Luenberger-type estimator

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