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IEEE International Multidisciplinary Conference on Engineering Technology (IMCET)

作者： Kourani, Ahmad Kassem, Kareem Daher, Naseem Amer Univ Beirut Dept Mech Engn Beirut Lebanon Boston Univ Dept Biomed Engn Boston MA 02215 USA Amer Univ Beirut Dept Elect & Comp Engn Beirut Lebanon

ISBN: (纸本)9781538645000

In this work, adaptive robust control (ARC) is applied to control the motion of a quadrotor with a varying payload. ARC, based on the backstepping method, guaranties asymptotic output tracking and satisfactory transient response of the quadrotor motion in the face of uncertainties and disturbances. The control system architecture includes an outer loop where a PID controller is used to generate the position inputs, which are fed to the ARC-based attitude control system at the inner loop level. The controller design is validated against payload variation in both numerical simulation and experimentally on a quadcopter. The obtained results demonstrate the accuracy of the ARC design with a constant payload against a well-tuned fixed-gain PID controller, and the adaptation and robustness of ARC become evident when the payload is varied and tracking performance is maintained.

关键词： adaptive robust control quadrotor payload change backstepping

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adaptive robust control for a class of uncertain nonlinear system with input and state quantization

Adaptive robust control for a class of uncertain nonlinear s...

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第37届中国控制会议

作者： Yanbin Liu Weichao Sun Harbin Institute of Technology

In this paper, we present an adaptive robust control scheme for a class of uncertain nonlinear system with both uncertain parameters and disturbance under state and input quantization. The quantizers can be any form of uniform quantizers or logarithmic quantizers as long as the quantization error satisfies the sector-bounded condition. In the designed control law,the state quantization error is regard as un-modeled dynamic and compensated by an addition feedback term. Both theoretic and simulation results show that under the designed controller, in spite of uncertainties and quantization, all signal is bounded and the outputs of the system track the reference command with tracking errors in relation to quantization density.

关键词： Quantization nonlinear system adaptive robust control uncertainties

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adaptive robust control for High-Speed Permanent Magnet Synchronous Motor Systems 3

Adaptive Robust Control for High-Speed Permanent Magnet Sync...

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2017 3rd IEEE International Conference on control Science and Systems Engineering (ICCSSE)

作者： Menglan Zhou Yifei Wu Lu Zhong Qingwei Chen Jian Guo College of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538604854

To deal with parametric uncertainty, load disturbance together with other nonlinear factors in highspeed permanent magnet synchronous motor(PMSM) systems, an adaptive robust controller(ARC) is proposed based on direct torque control method. In the high-speed PMSM modeling process, the unknown nonlinear factors, including modeling error and uncertain disturbance, are considered. Based on the optimized motor model, the adaptive robust speed controller is designed. The stability of the closed-loop system is verified by the Lyapunov theory. Simulation results show that the proposed controller provides better performance than the traditional PI controller in terms of stability, adaptability and robustness.

关键词： adaptive robust control speed controller highspeed permanent magnet synchronous motor direct torque control

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adaptive robust Motion control of a Pump Direct Drive Electro-hydraulic System with Meter-Out Pressure Regulation ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9005-9010页

作者： Bobo Helian Zheng Chen Bin Yao State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Ocean College Zhejiang University Zhoushan 316021 China School of Mechanical Engineering Purdue University West Lafayette IN 47907 USA

In industry, pump-controlled hydraulic systems are generally considered energy efficient but are not accurate due to their inherent characteristics such as low response frequencies, thus pump control hydraulic systems have been traditionally applied in situations that require high power but limited accuracy. Besides, for the conventional pump-controlled cylinder systems, especially open-circuit systems, the cylinder vibration and cavitation may result due to the negative load when the cylinder moves with a high deceleration trajectory. Therefore, it is difficult to simultaneously keep the advantages of energy-saving and high motion tracking accuracy. This paper proposes a novel control strategy for a servo motor-pump and proportional valves combination control system. The cylinder is directly driven by a variable speed pump to give full play to the advantage of energy-saving by pump control. The meter-out pressure is controlled by proportional valves to provide the required resistance for motion tracking. A pressure regulation method is proposed, consisting of an optimized meter-out pressure planning and a pressure tracking controller. Both the pump controller and the meter-out pressure controller use the adaptive robust control (ARC) algorithm to achieve high motion control accuracy.

关键词： Motion control direct drive servo motor-pump meter-out throttling adaptive robust control

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adaptive robust Position control of Uncertain PMSM Servo System Using Extended State Observer 22

Adaptive Robust Position Control of Uncertain PMSM Servo Sys...

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22nd International Conference on Electrical Machines and Systems (ICEMS)

作者： Li, Fangjun Wang, Shengjie Li, Junfeng Wang, Li Li, Qiao Beijing Mech Equipment Inst Beijing Peoples R China Huazhong Univ Sci & Technol State Key Lab Adv Electromagnet Engn & Technol Wuhan Peoples R China

ISBN: (纸本)9781728133980

In order to control the uncertain permanent magnet synchronous motor (PMSM) position servo system, an adaptive robust control with extended state observer is presented. First, adaptive algorithms with improved parameters are designed to estimate the changes of the unknown position-loop structural parameters based on backstepping method. Second, the extended state observer is used to observe the upper limit of the disturbance to guarantee strong robustness. This proposed approach can resist the uncertainty of the structural parameters and disturbance. The whole strategy has a simplified scheme and do not require the unknown range of the disturbance. The simulation results are provided in this paper to validate the proposed method.

关键词： adaptive robust control Backstepping Extended State Observer

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adaptive robust control of Quadrotor Helicopter towards Payload Transportation Applications 36

Adaptive Robust Control of Quadrotor Helicopter towards Payl...

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第36届中国控制会议

作者： Ban Wang Lingxia Mu Youmin Zhang Department of Mechannical Industrial and Aerospace EngineeringConcordia University School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781538629185

Sliding mode control is known as a robust control approach to maintain system performance and keep it insensitive to *** paper proposes an integral sliding mode based adaptive robust control for a quadrotor helicopter with parametric uncertainties and *** the help of the synthesized on-line adaptive scheme,the uncertain parameters can be accurately estimated without the knowledge of the uncertainty *** this case,there is no need to increase the discontinuous control gain,which may stimulate control chattering effect,to maintain the robustness of the *** effectiveness of the proposed control strategy is validated through a simulation of the payload transportation *** to the commonly used linear quadratic regulator（LQR） approach,the proposed adaptive robust control strategy can maintain the tracking performance during the whole flight phase.

关键词： adaptive robust control integral sliding mode quadrotor helicopter payload transportation

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adaptive robust control for Quad-rotor based on a Compound control Method 36

Adaptive Robust Control for Quad-rotor based on a Compound C...

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第36届中国控制会议

作者： Rui Ding Ran Jiao Wusheng Chou School of Mechanical Engineering and Automation Beihang University

ISBN: (纸本)9781538629185

This paper proposes an adaptive robust control(ARC) scheme for quad-rotor to track 3D trajectory subject to unknown external disturbances and parametric *** proposed controller is based on a compound control method including back-stepping and sliding mode control(SMC).Back-stepping is implemented to handle the nonlinearity of the dynamic model,complementary SMC is used to compensate the effect of external disturbances,and adaptive control is applied to estimate system parameters like mass in real *** asymptotic stability of the proposed ARC scheme has been proved by the Lyapunov stability *** simulations in various cases show the effectiveness,adaptability and robustness of the proposed ARC compared with PID control and robust control(RC) without adaptive control law.

关键词： Quad-rotor adaptive robust control sliding mode back-stepping parameter estimation

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adaptive robust Motion control of an Ironless Permanent Magnet Linear Synchronous Motor with Dead-zone Compensation 22

Adaptive Robust Motion Control of an Ironless Permanent Magn...

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22nd International Conference on Electrical Machines and Systems (ICEMS)

作者： Sun, Peng Chinese Acad Sci Hefei Inst Phys Sci Inst Adv Mfg Technol Beijing Peoples R China Changzhou Inst Adv Mfg Technol Changzhou Jiangsu Peoples R China

ISBN: (纸本)9781728133980

The ironless permanent magnet linear synchronous motor (ILPMLSM) is widely used in precision applications because of its advantages, such as direct drive, zero cogging and attractive force, and high speed and acceleration potential. In most of the existing control schemes, the adaptive robust control algorithm has special advantages in dealing with parameter uncertainties and uncertain nonlinearities of the linear motor systems. However, the previously ignored nonparametric uncertainty (noise and disturbance) is widespread in industrial applications. Furthermore, even small uncertainties may produce parameter drift possibly leading to instability of the control system, when the reference signals are not persistently exciting. In this paper, a nonlinear dynamic model of an ILPMLSM system including both the traditional various uncertainties and the previously ignored nonparametric uncertainty is given, leading to a better understanding of the parameter drift and system instability caused by the noise and disturbance. Additionally, an adaptive robust control scheme with dead-zone compensation is proposed. The dead-zone technique is employed to improve the discontinuous projection adaptation law. The approach of dead-zone compensation adaptive robust control is applied to synthesize the system controller for both accurate parameter estimation and a guaranteed robust performance to various uncertainties. Comparative experiments show that the proposed approach can achieve fast and accurate trajectory tracking, robustness, and stability against uncertainties mentioned above.

关键词： adaptive robust control dead-zone compensation nonparametric uncertainty permanent magnet linear synchronous motor trajectory tracking control

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The control of the electro-hydraulic shaking table based on dynamic surface adaptive robust control

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2017年第8期39卷 1271-1280页

作者： Shen, Wei Wang, Jun-zheng Wang, Shou-kun Beijing Inst Technol Key Lab Intelligent Control & Decis Complex Syst Beijing 100081 Peoples R China

The electro-hydraulic shaking table is investigated, in the present paper, to simulate the vibrational working environment of industrial components and equipment. adaptive robust control can be applied to the shaking table system because electro-hydraulic systems suffer from internal parameter uncertainties and external disturbances. However, the adaptive robust controller design is complicated and has a large computational cost owing to the "explosion of terms' problem. Thus dynamic surface control is applied in the design procedure of adaptive robust controllers to overcome the "explosion of terms' problem. In this work, dynamic surface adaptive robust control is proposed. It simplifies the designed procedure of the controller and decreases its computational cost. Firstly, the structure of a shaking table is formulated and the operation principles of the shaking table, including the hydraulic and control principles, are analysed. A change is made in the mechanical-hydraulic system of the fluid circuit to address the problem of changing the vibration direction. Secondly, a dynamic model of a shaking table is proposed. Based on analysis of this model, the design of a dynamic surface adaptive robust controller for a shaking table is presented so as to improve its performance. Finally, comparative simulations and experiments are carried out. The comparison of performance results with proportional-integral-derivative control verify the correctness of the hydraulic scheme and control principle, as well as the high-performance of the dynamic surface adaptive robust controller. The shaking table achieves a guaranteed dynamical performance and tracking accuracy for the output in the presence of parameter and load uncertainties.

关键词： Electro-hydraulic control shaking table dynamic surface adaptive robust control

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Event-Driven adaptive robust control of Nonlinear Systems With Uncertainties Through NDP Strategy

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2017年第7期47卷 1358-1370页

作者： Wang, Ding Mu, Chaoxu He, Haibo Liu, Derong Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Tianjin Univ Sch Elect Engn & Automat Tianjin Key Lab Proc Measurement & Control Tianjin 300072 Peoples R China Univ Rhode Isl Dept Elect Comp & Biomed Engn Kingston RI 02881 USA Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

In this paper, we construct an event-driven adaptive robust control approach for continuous-time uncertain nonlinear systems through a neural dynamic programming (NDP) strategy. Through system transformation and theoretical analysis, the robustness of the original uncertain system can be achieved by designing an event-driven optimal controller with respect to the nominal system under a suitable triggering condition. In addition, it is also observed that the event-driven controller has a certain degree of gain margin. Then, the NDP technique is employed to perform the main controller design task, followed by the uniform ultimate boundedness stability proof with the feedback action of the event-driven adaptive control law. The comparative effect of the present control strategy is also illustrated via two simulation examples. The established method provides a new avenue of combining adaptive dynamic programming-based self-learning control, event-triggered adaptive control, and robust control, to investigate the nonlinear adaptive robust feedback design under uncertain environment.

关键词： adaptive dynamic programming (ADP) adaptive robust control critic neural network event-driven control neural dynamic programming (NDP) uncertain nonlinear systems

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