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adaptive robust control for Pump-controlled Pitch Systems Facing Wind Speed and System Parameter Variability

APPLIED SCIENCES-BASEL 2024年第22期14卷 10218页

作者： Zhang, Tiangui Yu, Bo Wang, Xuewei Liu, Yinping Chen, Gexin Liu, Keyi Ai, Chao Wang, Lihui Yanshan Univ Sch Mech Engn Qinhuangdao 066004 Peoples R China Xinjiang Inst Engn Mech & Elect Engn Urumqi 830023 Peoples R China Sichuan Chuanrun Intelligent Fluid Technol Co Ltd Chengdu 610000 Peoples R China Jilin Univ Coll Mech & Aerosp Engn Changchun 130025 Peoples R China Shougang Jingtang United Iron & Steel Co Ltd Tangshan 063000 Peoples R China

This paper proposes an adaptive robust control (ARC) strategy for pump-controlled pitch systems in large wind turbines to address challenges in control accuracy and energy efficiency. First, a mathematical model integrating pitch angle dynamics and hydraulic characteristics is established, with pitch angle, pitch angular velocity, and hydraulic cylinder thrust as state variables. Then, an ARC strategy is designed using the backstepping method and incorporating parameter adaptation to handle system nonlinearities and uncertainties. The controller parameters are optimized using Particle Swarm Optimization (PSO) under wind disturbance conditions, and comparative analyses are conducted with traditional PID control. The numerical simulation results show that both controllers achieve similar tracking performance under nominal conditions, with PID achieving a 0.08 degrees maximum error and ARC showing a 0.1 degrees maximum error. However, the ARC strategy demonstrates superior robustness under parameter variations, maintaining tracking errors below 0.15 degrees, while the PID error increases to 1.5 degrees. Physical test bench experiments further validate these findings, with ARC showing significantly better performance during cylinder retraction with 0.1 degrees error compared to PID's 0.7 degrees error. The proposed control strategy effectively handles both the inherent nonlinearities of the pump-controlled system and external disturbances, providing a practical solution for precise pitch control in large wind turbines while maintaining energy efficiency through the pump-controlled approach.

关键词： pump-controlled adaptive robust control wind turbines pitch angle

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adaptive robust control of a Flexible Manipulator With Unknown Dead-zones 13

Adaptive Robust Control of a Flexible Manipulator With Unkno...

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13th Asian control Conference (ASCC)

作者： Zhao, Zhijia Cai, Sentao Zhang, Jianing Zou, Tao Guangzhou Univ Sch Mech & Elect Engn Guangzhou Peoples R China

ISBN: (纸本)9788993215236

This study develops an adaptive robust control for a flexible manipulator preceded by an unknown dead-zone. Based on a transformation of the dead-zone, an adaptive robust control is established to compensate for the influence of unknown dead-zone, address the system uncertainties, and suppress vibration of the manipulator. The system output states are proven to be uniformly bounded with the proposed control scheme. Simulations are finally used to verify the effectiveness of the control strategy.

关键词： adaptive robust control unknown dead-zone flexible manipulator

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Iterative neural network adaptive robust control of a maglev planar motor with uncertainty compensation ability

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ISA TRANSACTIONS 2023年 140卷 331-341页

作者： Xu, Fengqiu He, Han Song, Mingxing Xu, Xianze Wuhan Univ Elect Informat Sch Wuhan 430070 Hubei Peoples R China

In this paper, an iterative neural network adaptive robust control (INNARC) strategy is proposed for the maglev planar motor (MLPM) to achieve good tracking performance and uncertainty compensation. The INNARC scheme consists of adaptive robust control (ARC) term and iterative neural network (INN) compensator in a parallel structure. The ARC term founded on the system model realizes the parametric adaptation and promises the closed-loop stability. The INN compensator based on the radial basis function (RBF) neural network is employed to handle the uncertainties resulted from the unmodeled non-linear dynamics in the MLPM. Additionally, the iterative learning update laws are introduced to tune the network parameters and weights of the INN compensator simultaneously, so the approximation accuracy is improved along the system repetition. The stability of the INNARC method is proved via the Lyapunov theory, and the experiments are conducted on an home-made MLPM. The results consistently demonstrate that the INNARC strategy possesses the satisfactory tracking performance and uncertainty compensation, and the proposed INNARC is an effective and systematic intelligent control method for MLPM.(c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： adaptive robust control Neural network Iterative learning Maglev planar motor Feedforward compensator

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adaptive robust control Based on System Identification in Microgrid Considering Converter controlled-Based Generator Modes

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IEEE ACCESS 2021年 9卷 125970-125983页

作者： Ngamroo, Issarachai Surinkaew, Tossaporn King Mongkuts Inst Technol Ladkrabang Sch Engn Elect Engn Dept Bangkok 10520 Thailand Cent Queensland Univ Sch Engn & Technol Perth WA 6000 Australia

Microgrids with installation of converter controlled-based generations (CCGs), i.e. renewable energy source (RES) and battery energy storage system (BESS), may lead to a lack of system inertia. Moreover, CCG modes dominated by the CCGs may result in new control issues. Accordingly, optimal-fixed controllers designed at an operating point may not be sufficient to deal with the nonlinearity of such microgrids. This paper presents an adaptive robust control strategy of a future microgrid considering the CCG modes. Without requiring any microgrid parameters, the proposed control using a subspace-based state-space identification is used to 1) monitor microgrid changes along with moving window, 2) identify microgrid model, 3) assess stability indices, and 4) robustly design controllers of RES and BESS. Characteristic and sensitivity of the new CCG modes are analyzed. Effectiveness of the proposed control method is verified in a microgrid with 100% CCGs under various RES outputs and load patterns.

关键词： Microgrids Stability analysis Doubly fed induction generators Power system stability Voltage control Rotors Reactive power adaptive robust control converter controlled-based generation low-inertia microgrid system identification

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adaptive robust control for tank stability: A constraint-following approach

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2021年第1期235卷 3-14页

作者： Ma, Yuze Yang, Guolai Sun, Qinqin Wang, Xiuye Sun, Quanzhao Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Jiangsu Peoples R China

This article addresses a control problem for tank stability based on constraint following. The objective is to design a control to drive the tank stability control system to follow a pre-specified stability constraint approximately: with the consideration of (possibly) time-varying uncertainty (including system modeling error and road excitation), if the barrel deviates from the target angle, drive it to be arbitrarily close to the target angle;and if the barrel points to the target angle, drive it to stay there. This is formulated as a problem of approximate constraint-following control. First, as the model-based control design object, the dynamic equation of the tank stability control system with the system modeling error and the road excitation is obtained. Second, as the control objective, the stability constraint is formulated. Third, as the control strategy, an adaptive robust control is proposed for approximate constraint following. Fourth, as the control object, a virtual prototype model of tank driving on bumpy road is established with multi-body dynamics software RecurDyn. Finally, real-time servo control and target observation of the tank stability system are performed by co-simulation. It shows that the constraint-following error converges quickly to10-4in 1.5 s. By this, the tank stability control system can be always stable even if the tank is driving and disturbed with frequent road excitation.

关键词： Mechanical system tank stability uncertainty road excitation constraint following adaptive robust control

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adaptive robust control IN CONTINUOUS TIME

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SIAM JOURNAL ON control AND OPTIMIZATION 2021年第5期59卷 3912-3945页

作者： Bhudisaksang, Theerawat Cartea, Alvaro Univ Oxford Math Inst Oxford OX1 2JD England Oxford Man Inst Quantitat Finance Oxford OX2 6ED England

We propose a continuous-time version of the adaptive robust methodology introduced in T. R. Bielecki et al. [SIAM J. control Optim., 57 (2019), pp. 925-946]. An agent solves a stochastic control problem where the underlying uncertainty follows a jump-diffusion process and the agent does not know the drift parameters of the process. The agent considers a set of alternative measures to make the control problem robust to model misspecification and employs a continuous-time estimator to learn the value of the unknown parameters to make the control problem adaptive to the arrival of new information. We use measurable selection theorems to prove the dynamic programming principle of the adaptive robust problem and show that the value function of the agent is characterized by a nonlinear partial differential equation. As an example, we derive the optimal adaptive robust strategy for an agent who acquires a large amount of shares in an order driven market and illustrate the financial performance of the execution strategy.

关键词： adaptive robust control model uncertainty stochastic control time-consistency dynamic programming optimal acquisition online learning algorithmic trading

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adaptive robust control for Uncertain Underactuated Mechanical Systems

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ADVANCED THEORY AND SIMULATIONS 2023年第9期6卷

作者： Zhang, Jiale Jiao, Shengjie Yi, Xiaogang Wu, Chenguang Changan Univ Natl Engn Res Ctr Highway Maintenance Equipment Sch Construct Machinery Xian 710065 Shaanxi Peoples R China Sany Grp Co Ltd Heavy Equipment Div Beijing 102206 Peoples R China

An adaptive robust control method is proposed for underactuated mechanical systems (UMSs) with uncertainty in the paper. UMSs are supposed to follow prescribed constraints when there is uncertainty. Inspired by the Udwadia-Kalaba modeling approach, those constraints are considered as control objectives realized by robust control. The uncertainty considered in UMSs is characterized as time-varying and bounded, albeit with unknown bounds. In order to estimate the boundary information, a novel adaptive law is developed. By using the Lyapunov function, the UMS is guaranteed to be uniform boundedness and uniform ultimate boundedness. The simulation is validated by using a two-wheeled bicycle as an example, compared to conventional PD control methods. The simulation comparison results show that the proposed control method exhibits notable characteristics, including fast transient response, small overshoots, and good robust performance.

关键词： adaptive robust control Udwadia-Kalaba underactuated mechanical system

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adaptive robust control for a Class of Uncertain Neutral Systems with Time Delays and Nonlinear Uncertainties

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2021年第3期19卷 1215-1227页

作者： Zhao, Dequan Wang, Yuchao Xu, Lijia Wu, Hansheng Sichuan Agr Univ Coll Mech & Elect Engn Yaan 625014 Sichuan Peoples R China Prefectural Univ Hiroshima Dept Informat Sci Hiroshima 7348558 Japan

The problems of robust stabilization and adaptive robust controller design are considered for a class of uncertain neutral systems with time delays and nonlinear uncertainties. In this paper, Pade approximation is used to deal with input-delays, and the adaptation laws are proposed to estimate the norm of the unknown parameter uncertainties. Based on the improved Razumikhin-type theorem and the updated values, a class of delay-independent adaptive robust state feedback controllers is constructed to guarantee the uniform ultimate boundedness of uncertain neutral systems with input-delays and nonlinear uncertainties. Finally, the chemical two-stage dissolution tank is used to illustrate the effectiveness of the proposed method.

关键词： adaptive robust control input-delays neutral systems Razumikhin-type theorem

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adaptive robust control for active suspension systems: targeting nonholonomic reference trajectory and large mismatched uncertainty

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NONLINEAR DYNAMICS 2021年第4期104卷 3861-3880页

作者： Qin, Wu Ge, Pingzheng Liu, Feifei Long, Shangbin East China Jiaotong Univ Sch Mechatron & Vehicle Engn Nanchang Jiangxi Peoples R China Jiangxi Vocat & Tech Coll Commun Nanchang Jiangxi Peoples R China Guangzhou Univ Sch Mech & Elect Engn Guangzhous Peoples R China

We formulate control goals of nonlinear underactuated active suspension systems (ASSs) with uncertainties as a class of constraints, which may be holonomic or nonholonomic. The uncertainties in the sprung mass, the external disturbance, the control input, the spring force and damping force are (possibly fast) time-varying, unknown but bounded. However, the bounds are unknown. The task is to design control which drives systems to approximately obey the constraints (hence constraint-following control) under the uncertainties effect. Since these uncertainties do not all fall within the range space of the input matrix, we creatively decompose uncertainties into matched portion and mismatched portion that may be large. Consequently, this decomposition is able to ensure the mismatched portions of uncertainties to "disappear," which indicates that the control design can be based on only matched portions. To emulate a constant design parameter vector that may be relevant to bounds of the uncertainties, we construct a continuous adaptive law, which call it smooth-zone adaptive law. This sets a base for an adaptive robust control design. We prove the uniform boundedness and the uniform ultimate boundedness of ASSs under the proposed control by the Lyapunov approach. Furthermore, experimental and numerical simulation results on a 2-DOF nonlinear ASS with uncertainties are presented for demonstrations of the proposed control.

关键词： Active suspension systems Underactuated systems Uncertainties Constraint-following control adaptive robust control

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adaptive robust control with Leakage-Type control Law for Trajectory Tracking of Exoskeleton Robots

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Advances in Internet of Things 2024年第3期14卷 53-66页

作者： Jin Tian Xiulai Wang Ningling Ma Yutao Zhang Nanjing Jinling Hospital Affiliated Hospital of Medical School Nanjing University Nanjing China School of Mechatronics Engineering Harbin Institute of Technology Harbin China

This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.

关键词： Trajectory Tracking adaptive robust control Exoskeleton Robots Uncertainties

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