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1st IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

作者： Zhu, Yinfei Zhen, Shengchao Sun, Hao Hefei Univ Technol Sch Mech Engn Hefei Anhui Peoples R China

ISBN: (纸本)9781538652701

In this paper, we establish the dynamical model of two degrees-of-freedom (2DOF) helicopter by Lagrange energy method, which may be subject to holonomic or nonholonomic constraints. Then we propose a nominal control for the trajectory tracking of 2DOF helicopters by applying Udwadia and Kalaba theory. Considering that there always exist some uncertainties in the 2DOF helicopter's mechanical system such as fuel consumption, air resistance during helicopter flight and the bounds of these uncertainties are unknown, we propose an adaptive robust control method to compensate the uncertainty. The choice of the design parameters in control is not unique, which can be used by the designer to balance the system performance the cost of control.

关键词： two degrees-of-freedom helicopter Udwadia and Kalaba theory trajectory tracking adaptive robust control uncertainty

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Leakage-Type adaptive robust control for Nonlinear Bulldozer Link Lever System 1

Leakage-Type Adaptive Robust Control for Nonlinear Bulldozer...

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1st IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

作者： Li, Chenming Zhen, Shengchao Sun, Hao Zhao, Han Hefei Univ Technol Sch Mech Engn Hefei Anhui Peoples R China

ISBN: (纸本)9781538652701

A modeling approach and an adaptive robust controller are proposed for bulldozer link lever system in this paper. The dynamic equation is acquired by combining Udwadia-Kalaba and Lagrange approaches. In this way, there is no approximation, linearization or extra variables such as Lagrangian multiplier. The controller consists of three parts. The first part is to suppress any tendency of deviating from the constraints. The second part aims to deal with any possible initial condition deviation from the constraint manifold. The third part is based on a leakage-type adaptive law which is used to estimate the unknown bound of the uncertainty. In the end, simulation results verify that the movement of bulldozer link lever can satisfy the desired trajectory and the real-time joint torque can be acquired conveniently by using the proposed approach.

关键词： udwadia-kalaba approach adaptive robust control uncertainty initial condition deviation

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adaptive robust control with input shaping technology for solar array drive system

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ACTA ASTRONAUTICA 2017年 140卷 264-272页

作者： Zhou, Tong Guo, Hong Xu, Jinquan Lin, Chuanchuan Beihang Univ Beijing Peoples R China

In this paper, the angular position control problem of solar array drive system is considered. The system contains uncertainty due to parametric inaccuracy and external disturbance torque. Furthermore, the system is flexible, which may cause the flexible vibration. We propose an input shaping approach based on the reference model, which is able to suppress the flexible vibration by designing the command trajectory. To improve the angular position control performance, an adaptive robust control is proposed, which can guarantee the uniform boundedness and uniform ultimate boundedness of the system, regardless of the uncertainty. The simulation shows that the proposed controller is able to guarantee the system performance and suppress the flexible vibration even under arbitrary uncertainty.

关键词： Vibration suppression Input shaping Solar array drive system adaptive robust control Angular position control

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adaptive robust control for four-motor driving servo system with uncertain nonlinearities

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control Theory and Technology 2017年第1期15卷 45-57页

作者： Wei ZHAO Xuemei REN Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.

关键词： Four-motor driving servo systems adaptive robust control velocity synchronization control friction backlash,actuation failures

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Fuzzy Variable Impedance adaptive robust control Algorithm of Exoskeleton Robots

Fuzzy Variable Impedance Adaptive Robust Control Algorithm o...

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第三十八届中国控制会议

作者： Weiming Mi Tao Zhang Department of Automation Tsinghua University

As a frontier research field, the flexible control of exoskeleton robots still exists many problems to be solved. In this paper, a fuzzy variable impedance adaptive robust control algorithm(FARC) based on the exoskeleton robot dynamics model is proposed. This algorithm aims to solve problems that are the uncertain parameters of the dynamics model and the influence of the external disturbance. In particular, the impedance parameters are updated in real time by using fuzzy inference. In detail,dynamics model of the exoskeleton robot by using Lagrange equation is established, firstly. Then an adaptive robust control algorithm with fuzzy variable impedance based on dynamics model is proposed to solve the problems mentioned above. And it can be proven to yield asymptotic stability for the control algorithm in the presence of bounded nonlinear disturbances. Finally,the experimental results by co-simulation of Simulink and OpenSim demonstrate the effectiveness of our control algorithm.

关键词： exoskeleton robot variable impedance adaptive robust control fuzzy inference

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adaptive robust Backstepping control of the Speed Regulating Differential Mechanism for Wind Turbines

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IEEE TRANSACTIONS ON SUSTAINABLE ENERGY 2019年第3期10卷 1311-1318页

作者： Yin, Wenliang Wu, Xin Rui, Xiaoming North China Elect Power Univ Minist Educ Key Lab Condit Monitoring & Control Power Plant E Beijing 102206 Peoples R China

In this paper, a hybrid transmission system equipped with a speed regulating differential mechanism (SRDM) is proposed for grid-connected wind turbines (WTs) to generate constant-frequency electricity. However, the transmission system is subject to pulsating torque from disturbances in the power grid. Coupled with parameter uncertainties, the speed control accuracy of SRDM and the system stability can hardly he warranted by conventional adaptive or robust controllers. Aiming at the proposed WI', this paper presents a discontinuous projection-based adaptive robust backstepping controller (ARBC) with an extended state observer (ESO) for high-accuracy speed control of permanent magnet synchronous motor in SRDM. The designed control approach, whose global robustness is guaranteed by a feedback robust law, can effectively handle both parametric uncertainties and external disturbances together without using the large nonlinear feedback gain and violating any constraints during the transient period. Then, the desired tracking performances of ARBC with ESO are verified through comparative experiments in a built platform of the WT with SRDM. Comparative experimental results show that SRDM equipped with the integrated control method can accurately regulate the power frequency to constant under operating conditions of parametric uncertainties, varying wind speeds, subsynchronous resonance, and sudden load fluctuation in the power grid.

关键词： Wind turbine (WT) speed regulation permanent magnet synchronous motor (PMSM) adaptive robust control extended state observer (ESO) disturbances

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adaptive robust Motion control for Linear Induction Motor with Electromagnetic Nonlinearity Compensation

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ASIAN JOURNAL OF control 2019年第5期21卷 2441-2450页

作者： Lu, Linlin Sun, Peng Xu, Linsen Luo, Minzhou Univ Sci & Technol China Sch Informat Sci & Technol Hefei 230026 Anhui Peoples R China Chinese Acad Sci Inst Adv Mfg Technol Hefei Inst Phys Sci Changzhou 213164 Jiangsu Peoples R China

This paper presents an adaptive robust motion control algorithm for linear induction motor (LIM) with electromagnetic nonlinearity compensation to suppress nonlinear magnetic thrust reduction due to the end effect. The electromagnetic compensation adaptive robust control (ECARC) algorithm is developed to deal with the parametric uncertainties and uncertain nonlinearities that are widely present in LIM. This algorithm employs a discontinuous projection-type method to estimate the system parameters. The disturbance is bounded by a critical value, which guarantees that the system is exponentially stable. However, due to the magnetic field distortion caused by the opening of primary ends, the relationship between the driving current and the resultant motor thrust is nonlinear. Consequently, electromagnetic thrust and flux are calculated and used for feedback compensation. Different from the traditional vector control and direct torque control, the control algorithm employs electromagnetic thrust and magnetic flux to compensate torque current and magnetic field. Simulation results and comparative experimental results show that current control algorithm is accurate and efficient.

关键词： adaptive robust control linear induction motor end effect electromagnetic nonlinearity compensation

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adaptive robust control for triple evasion-tracing-arrival performance of uncertain mechanical systems

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2017年第8期231卷 652-668页

作者： Wang, Xiuye Sun, Qinqin Chen, Ye-Hwa Nanjing Univ Sci & Technol Sch Mech Engn Nanjing Jiangsu Peoples R China Hefei Univ Technol Sch Mech & Automot Engn Tunxi Rd 193 Hefei 230009 Anhui Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA

This article proposes a (cooperative) triple evasion-tracing-arrival problem for mechanical systems. The system contains uncertainty which is (possibly fast) time-varying but bounded;however, the bound is unknown. The main objective is to obtain controllers for the controlled system to assure three categories of system performance: evasion (with respect to a region), tracing (with respect to another region) and arrival (with respect to other another region). This problem is transferred as constraint-following control, based on which, the constraint derived from the original problem is creatively divided into two categories: evasion-tracing constraint and arrival constraint. Then, an adaptive robust control is designed, with which the evasion-tracing constraint is completely followed and the arrival constraint is closely followed by the system, regardless of the uncertainty. As a result, the triple evasion-tracing-arrival problem is solved.

关键词： Mechanical system evasion-tracing-arrival constraint-following adaptive robust control uncertainty

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A novel adaptive robust control approach for underactuated mobile robot 3

A novel adaptive robust control approach for underactuated m...

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3rd IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Chen, Xiaolong Sun, Hao Zhen, Shengchao Hefei Univ Technol Sch Mech Engn Hefei Anhui Peoples R China

ISBN: (纸本)9781538670668

This paper proposes a new adaptive robust control to solve the balancing control of the underactuated mobile robot (UMR) with system uncertainties. These uncertainties, which are bounded, include modeling error, initial condition deviation and other unknown external disturbances. However, the bounds are unknown. we first present the description equation of the UMR system with uncertain parameter and the pre-specified servo constraints. Next, we propose a control with adaptive law and the stability of the control is proved by using Lyapunov method. Finally, the effect of the control is shown via numerical simulation of a case.

关键词： Underactuated mobile robot adaptive robust control Uncertainties Mechanical system Servo constraint

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adaptive robust control FOR ACTIVE SUSPENSION SYSTEM USING T-S FUZZY MODEL APPROACH

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MECHATRONIC SYSTEMS AND control 2018年第2期46卷 46-54页

作者： Zhou, Chenyu Zhao, Xuan Yu, Qiang Changan Univ Vehicle Engn Xian Shaanxi Peoples R China

This paper presents an adaptive robust control method for electrohydraulic active suspensions using the Takagi-Sugeno (T-S) fuzzy approach. A T-S fuzzy model using the saturation issue as a constraint to the outer loop along with a reformed feedback controller that seeks to optimize the H-infinity performance is proposed. The feedback control gains are determined by transforming the resulting optimization problem into a linear matrix inequalities (LMI) solution issue using the parallel-distributed compensation method. To reduce the hydraulic energy consumption, these LMIs associated with the stability analysis, comfort performance and suspension stroke limit are constrained in a manner that makes the performance to be dependent on the perturbation size. adaptive robust control (ARC) is adopted next to deal with uncertain nonlinearities and to ensure robustness such that the electrohydraulic system is capable of tracking the stipulated force more accurately, though the sprung mass or hydraulic parameters are changed. The effectiveness of the system and the improvements made are validated through simulations. It is found that the proposed T-S fuzzy model-based ARC active suspension control outperforms conventional backstepping control and passive suspension, in particular with respect to robustness and energy saving.

关键词： Electrohydraulic actuator uncertain nonlinearities adaptive robust control T-S fuzzy technique

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