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A New High-Order adaptive robust control for Constraint Following of Mechanical Systems

ASIAN JOURNAL OF control 2017年第5期19卷 1672-1687页

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

A mechanical system is to follow a class of prescribed holonomic or nonholonomic constraints. The system contains time-varying bounded uncertainty. However, the bound is unknown. The objective is to design a control which renders constraint following. A new high-order adaptive robust control is proposed. The control guarantees uniform boundedness and uniform ultimate boundedness even in the presence of the uncertainty. Significant advantages of this new control are demonstrated both analytically and numerically. It is shown that the system performance, including the finite entering time, constraint-following error, and control magnitude, can be improved by tuning the control order.

关键词： Mechanical system constraint d'Alembert's principle adaptive robust control

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Collision Avoidance adaptive robust control for Autonomous Vehicles:Motivated by Swarm Properties 29

Collision Avoidance Adaptive Robust Control for Autonomous V...

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第29届中国控制与决策会议

作者： Xiaomin Zhao Han Zhao Ye-Hwa Chen Fangfang Dong School of Automotive and Transport Engineering Hefei University of Technology School of Mechanical Engineering Hefei University of Technology The George W.Woodruff School of Mechanical Engineering Georgia Institute of Technology

ISBN: (纸本)9781509046584

The control design problem for uncertain autonomous vehicle platoon system is *** uncertainty is possibly nonlinear and *** to the condition of collision avoidance,the original dynamical model for autonomous vehicle platoon system is designed with bounded *** a state transformation,the bounded state is converted into a globally unbounded *** swarm properties are incorporated into the system as ideal platoon *** treating the performance as constraint,the closed-form expression of the constraint force is *** adaptive law is proposed to estimate the unknown *** on the constraint force and adaptive law,a class of adaptive robust control for each following vehicle in the platoon is *** major system performances are guaranteed:(i) collision avoidance,(ii) stable formation and(iii) global behavior.

关键词： Platoon System Swarm properties Uncertainty adaptive robust control Vehicle platoon

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adaptive robust tracking control of a proportional pressure-reducing valve with dead zone and hysteresis

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2018年第7期40卷 2151-2166页

作者： Li, Yong Wang, Qingfeng Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou Zhejiang Peoples R China

Proportional pressure-reducing valves (PPRVs) are typical proportional valves widely used in the hydraulic industry because they are inexpensive, not prone to malfunction, easy to handle and service. However, they suffer from performance degradations due to the existence of dead zone and hysteresis. An effective control method should be developed to improve the performance of PPRVs, as their characteristics significantly affect the entire hydraulic system. This article focuses on high-performance pressure-tracking control of a PPRV with dead zone and hysteresis. A non-linear phenomenological model is put forward to describe the characteristics of dead zone and hysteresis, as well as dynamic behaviour of the PPRV. The proposed phenomenological model is described using an ideal third-order linear model preceded by a dead zone term and a hysteresis term. To handle parameter uncertainties and uncertain non-linearities in the phenomenological model, an adaptive robust controller is synthesized without constructing a dead zone inverse or hysteresis inverse. The developed controller guarantees bounded pressure-tracking error and precise steady-state tracking accuracy. Comparative simulations and experiments with different pressure trajectories are carried out to verify the effectiveness of the proposed method. Both simulation and experimental results show that with the proposed adaptive robust control (ARC) approach, the non-linear dead zone and hysteresis may be well compensated and improved pressure-tracking performance achieved.

关键词： adaptive robust control dead zone hysteresis phenomenological model proportional pressure-reducing valve tracking control

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Finite-time adaptive robust control 6

Finite-time Adaptive Robust Control

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2017 IEEE 6th Data Driven control and Learning Systems Conference (DDCLS’17)

作者： Mingxuan Sun Jianyong Chen He Li Zhejiang University of Technology Wenzhou Vocational College of Science and Technology

ISBN: (纸本)9781509054626

This paper presents a finite-time control strategy for uncertain systems with unknown time-invariant *** finite-time adaptive robust controller is designed via Lyapunov approach, where projection-type integral and incremental adaptation laws are applied in estimation of the time-invariant parametric uncertainties, respectively. The terminal attractor is suggested in the adaptive robust controller, and with the proposed control schemes, the finite time convergence can be *** bounded error convergence result is obtained in the presence of disturbances. Otherwise, the zero-error convergence can be achieved. The numerical results demonstrate the effectiveness of the proposed control schemes.

关键词： Convergence adaptive robust control Finite Time control Learning control

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On Event-triggered adaptive robust control 36

On Event-triggered Adaptive Robust Control

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第36届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781538629185

In this work,an event-triggered adaptive robust controller（ET-ARC） design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter *** the event-trigger scheme,the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance of the ET-ARC depends on the triggering condition ***,in this work,for the adaptive robust control scheme,an event-triggered transmission strategy is proposed,which relies on the output measurement of the nonlinear ***,based on this strategy,the design idea of the adaptive robust controller is presented such that the tracking performance is ***,based on a more general assumption,we provide a possible formation of control signal which satisfies the requirement proposed.

关键词： adaptive robust control event-triggered transmission parameter estimation

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Linear Motor Tracking control Based on adaptive robust control and Extended State Observer 8

Linear Motor Tracking Control Based on Adaptive Robust Contr...

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IEEE International Conference on Cybernetics and Intelligent Systems (CIS) / IEEE Conference on Robotics, Automation and Mechatronics (RAM)

作者： Yan, Liang Qiao, Hongkai Jiao, Zongxia Duan, Zihao Wang, Tianyi Chen, Ran Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Beihang Univ Shenzhen Inst Shenzhen 518000 Peoples R China

ISBN: (纸本)9781538631355

Trajectory tracking control for linear oscillating motor is critical to improve the performance of linear electro-hydrostatic actuator (LEHA). However, both structured uncertainties (i.e., parametric uncertainties) and unstructured uncertainties (i.e., unmodeled dynamics, external disturbances, nonlinear friction) exist in LEHA may severely deteriorate the control performance of the system. In this paper, a control strategy which integrates adaptive robust control (ARC) and extended state observer (ESO) together is proposed to handle both structured and unstructured uncertainties. The proposed control strategy takes the advantages of ARC and ESO, which nullifies the disadvantages of ARC and ESO as well, guarantees accurate high-frequency trajectory tracking performance. In addition, a second-order system model is established by adapting dipole cancellation method and dominant pole theory before the design procedure of the controller. The simulation results are presented to verify the effectiveness and the achievable excellent performance of the proposed control strategy.

关键词： adaptive robust control extended state observer linear oscillating motor tracking control uncertainties

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adaptive robust control with L2-Gain Performance for Autonomous Spacecraft Proximity Maneuvers

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JOURNAL OF SPACECRAFT AND ROCKETS 2016年第2期53卷 249-257页

作者： Sun, Liang Huo, Wei Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Res Div 7 Beijing 100191 Peoples R China

This paper investigates relative motion control for a rigid spacecraft with parametric uncertainties and external disturbances to approach an unknown tumbling space target. State feedback controllers for relative translation and relative rotation are designed based on a unified adaptive robust control with L-2-gain performance. Parametric uncertainties and unknown dynamic couplings are compensated online with adaptive update laws. An external disturbance is treated as a bounded perturbation input for the system. To synthesize the controllers and achieve a prescribed L-2-gain performance index, the feedback gains of the controllers are designed by solving linear matrix inequalities. Indeed, perturbation attenuation with respect to the controlled output is ensured in the L-2-gain sense. Moreover, in the absence of perturbation input in the closed-loop system, asymptotical convergence of the relative position and relative attitude are proved by using the Lyapunov stability theory. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of unknown dynamic couplings, parametric uncertainties, and external disturbances.

关键词： Location tracking adaptive robust control external disturbance Rigid spacecraft Parametric controllers DYNAMIC COUPLING perturbation

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adaptive robust control of fully constrained cable robots: singular perturbation approach

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NONLINEAR DYNAMICS 2016年第1期85卷 607-620页

作者： Babaghasabha, Reza Khosravi, Mohammad A. Taghirad, Hamid D. KN Toosi Univ Technol Ind Control Ctr Excellence ARAS Fac Elect Engn Tehran Iran Amirkabir Univ Technol Dept Elect Engn Tehran Iran

In this paper, adaptive robust control of fully constrained cable-driven parallel robots with elastic cables is studied in detail. A composite controller is proposed for the system under the assumption of linear axial spring model as the dominant dynamics of the cables and in presence of model uncertainties. The proposed controller which is designed based on the singular perturbation theory, consists of two main parts. An adaptive robust controller is designed to counteract the unstructured and parametric uncertainties of the robot and a fast control term which is added to control the longitudinal vibrations of the cables. Moreover, to ensure that all cables remain in tension, the proposed control algorithm benefits from internal force concept. Using the results of the singular perturbation theory, the stability of the overall closed-loop system is analyzed through Lyapunov second method, and finally, the effectiveness of the proposed control algorithm is verified through some simulations on a planar cable-driven parallel robot.

关键词： Cable-driven parallel robots Elastic cables Unstructured and parametric uncertainties Singular perturbation Composite control adaptive robust control

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Research on adaptive robust Servo control System of PMSM Under the Uncertain Factors 21

Research on Adaptive Robust Servo Control System of PMSM Und...

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21st International Conference on Electrical Machines and Systems (ICEMS)

作者： Chen, Hongjun Cai, Fumen Chen, Xiyu Harbin Inst Technol Dept Elect Engn Harbin Heilongjiang Peoples R China

ISBN: (纸本)9788986510201

In the actual servo system, there are often many uncertain factors, such as the uncertainty of the moment of inertia of the motor and the load torque, the variability of the system parameters due to the different working conditions, friction and external disturbances during system operation. Based on this background, this paper researched the control of permanent magnet synchronous motor (PMSM) servo system under the uncertain factors. First of all, the mathematical model of PMSM was established, taking into account the influence of uncertain factors. Secondly, based on various uncertain factors, this paper presented an adaptive robust servo control strategy for PMSM. Then, based on this control strategy, the flux observer and adaptive robust position controller were designed and simulated. Lastly, experimental of the servo control system to verify the system's feasibility and good performance.

关键词： servo system PMSM flux identification adaptive robust control

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adaptive robust attitude control and active vibration suppression of flexible spacecraft

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2017年第6期231卷 1076-1087页

作者： Yu, Z. Guo, Y. Wang, L. Wu, L. Nanjing Univ Sci & Technol Sch Automat 200 Xiao Ling Wei Nanjing 210094 Jiangsu Peoples R China

This paper presents the large angle attitude manoeuvre control design of a single-axis flexible spacecraft system that consists of a central rigid body and a cantilever beam with bonded piezoelectric sensor/actuator pairs as a flexible appendage. The proposed control strategy combines the attitude controller designed by the adaptive robust control technique with the active vibration controller designed by the positive position feedback control method. The desired angular position of the spacecraft is planned and an adaptive robust attitude control approach based on a projection type adaptation law is proposed to track the planned path and to achieve precise attitude manoeuvre control. Meanwhile, the positive position feedback control method is applied to actively increase the damping of the flexible appendage and to suppress the residual vibration induced by manoeuvre. Improved transient and steady state performance during and after large angle attitude manoeuvre can be both achieved by integration of the technical merits of all these control methods. Analytical and numerical results illustrate the effectiveness of this approach.

关键词： adaptive robust control positive position feedback path planning vibration suppression flexible spacecraft

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