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backstepping control of three-pole radial hybrid magnetic bearing

IET ELECTRIC POWER APPLICATIONS 2020年第8期14卷 1405-1411页

作者： Wu, Mengyao Zhu, Huangqiu Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Jiangsu Peoples R China

To improve dynamic performance and robustness of a three-pole radial hybrid magnetic bearing (HMB), a backstepping controller is designed in this study. After introducing configuration of the three-pole radial HMB, the mathematical model is established by using the equivalent magnetic circuit method, and then the state equations are derived. Based on the state equations, the backstepping controller is designed by conducting backstepping algorithm and Lyapunov theorem which is adopted to confirm the stability of the system. Aiming at the difficulty of parameter adjustment, the adjustment factor is introduced through theoretical analysis. And the suitable value range of regulation factor is given by simulation. To identify the validity of the presented controller, the backstepping controller and the proportional-integral-derivative (PID) controller are compared by simulation and experiment. Simulation and experimental results have verified that the dynamic performance and the robustness of the backstepping controller are superior to the PID controller.

关键词： nonlinear control systems magnetic circuits Lyapunov methods magnetic bearings three-term control control system synthesis backstepping control PID controller proportional-integral-derivative controller backstepping algorithm state equations equivalent magnetic circuit method three-pole radial HMB backstepping controller three-pole radial hybrid magnetic bearing dynamic performance

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Advanced fuzzy-based leak detection and size estimation for pipelines

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JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 2020年第1期38卷 947-961页

作者： Piltan, Farzin Kim, Jong-Myon Univ Ulsan Dept Elect Elect & Comp Engn Ulsan South Korea Univ Ulsan Sch IT Convergence Ulsan 680479 South Korea

The design of an effective procedure for leak detection, estimation, and leak size classification is necessary to maintain the healthy and safe operations of pipelines for conveying fluids and gas from one place to another. The complexities of nonlinear and uncertain behavior inherent in a pipeline lead to difficulty of detection, estimation, and leak size estimation. Hence, a robust hybrid leak detection and size estimation method based on the back stepping hyperbolic Takagi-Sugeno (T-S) fuzzy sliding mode extended ARX-Laguerre Proportional Integral (PI) observer for pipelines is presented. Because of the effects of gases and fluids in pipelines, accurate physical modeling of a pipeline is difficult. Consequently, the ARX-Laguerre technique is used for pipeline modeling in this study. Early detection of leaks is important to avoid product loss and other severe damage. To address this issue, the extended ARX-Laguerre PI observer is utilized to detect and estimate a leak. In addition, a T-S fuzzy technique is applied to an extended ARX-Laguerre PI observer to improve leak estimation in the presence of uncertainties. Thus, the T-S fuzzy sliding mode extended ARX-Laguerre PI observer adaptively improves the reliability, robustness, and estimation accuracy of leak detection and estimation. To leak size classification in the presence of uncertainties, the hyperbolic differential equations are governed by the T-S fuzzy extended ARX-Laguerre PI observer to find the exact solution for the kernels of a backstepping-based leak boundary. The leak estimation convergence error shows that the leak size estimation can be calculated independent of the location of the leak, which is the main contribution of this research. It is assumed that pressure and flowmeter sensors are available at the inlet and outlet of the pipeline. The effectiveness of the proposed robust backstepping hyperbolic T-S fuzzy sliding mode extended ARX-Laguerre PI observer was tested over an experimental datase

关键词： Pipeline T-S fuzzy algorithm sliding mode technique ARX-Laguerre system estimation PI observer leak detection leak estimation leak size classification partial differential equation backstepping algorithm

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Adaptive Fuzzy Sliding Mode Control for a Class of Uncertain Nonaffine Nonlinear Strict-Feedback Systems

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IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY-TRANSACTIONS OF ELECTRICAL ENGINEERING 2019年第1期43卷 33-45页

作者： Doudou, Sofiane Khaber, Farid Univ Setif 1 QUERE Lab Setif 19000 Algeria Univ Jijel Dept Automat Jijel 18000 Algeria

In this paper, an adaptive fuzzy sliding mode scheme is proposed for a class of single-input, single-output(SISO) unknown uncertain nonaffine nonlinear systems in strict-feedback form. In this scheme, the backstepping algorithm is used to obtain the virtual controllers. The real control law is designed by using sliding mode approach. The both matched and mismatched unknown uncertainties are counteracted by using adaptive robust terms. The unknown nonlinear functions are approximated by employing adaptive fuzzy logic systems. The adaptation laws of the adjustable parameters are deduced from the stability analysis of the closed-loop system in the sense of Lyapunov. The derived adaptive fuzzy sliding mode control approach guarantees the global boundedness property for all the signals and states, and at the same time, steers the tracking error to a very small neighborhood of the origin. Numerical simulation results are provided to show the effectiveness of the proposed control scheme.

关键词： Sliding mode control backstepping algorithm Adaptive control Fuzzy systems Nonaffine nonlinear systems

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Adaptive robust stabilisation of uncertain nonlinear dynamical systems: an improved backstepping approach

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INTERNATIONAL JOURNAL OF CONTROL 2018年第1期91卷 114-131页

作者： Wu, Hansheng Prefectural Univ Hiroshima Dept Informat Sci Hiroshima Japan

The main purpose of this paper is to propose a design approach by which some simple adaptive robust controllers can be synthesised for a class of uncertain nonlinear dynamical systems which can be transformed into uncertain strict-feedback nonlinear systems. In this paper, an improved backstepping design approach is presented to synthesising a class of continuous adaptive robust state-feedback controllers with a rather simple structure. The improved backstepping design approach can avoid the repeated differentiation problem which appears in using the conventional backstepping algorithm. In particular, it is not required to know the nonlinear upper bound functions of uncertainties. In the light of the presented approach, the state-feedback controllers can be constructed to be linear in the state, with the time-varying control gains which can be self-tuned by the adaptive laws. Similar to the conventional backstepping algorithm, the improved backstepping approach can be extended to a rather large class of uncertain nonlinear systems, and by combining the improved backstepping approach with other control methods, it may be expected to obtain a number of interesting results.

关键词： Nonlinear dynamical systems uncertainty robust control adaptive control backstepping algorithm uniform exponential boundedness output tracking

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Neural Networks for the Output Tracking-Control Problem of Nonlinear Strict-Feedback System

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IEEE ACCESS 2017年 5卷 26257-26266页

作者： Chen, Yuhuan Ren, Jihua Yi, Chengfu Garman Normal Univ Ganzhou 341000 Peoples R China Shenzhen Univ Shenzhen 518060 Peoples R China Beijing Univ Technol Beijing 100124 Peoples R China Nanchang Inst Technol Nanchang 330044 Jiangxi Peoples R China Jiangxi Univ Sci & Technol Ganzhou 341000 Peoples R China

This paper focuses on the tracking-control problem of nonlinear strict-feedback system by utilizing neural networks. Combining a novel recurrent neural network and gradient-based neural network, we investigate, develop and design a new controller based on the synthesized neural network model (N-G model) to track the output trajectory performance of the nonlinear strict-feedback system. This presented control scheme could have a good output tracking performance for the nonlinear strict-feedback system. For comparing with the presented N-G model, the classic backstepping design method is also employed to design the control input for the nonlinear strict-feedback control system in this paper. The computer simulation results demonstrate that the controller based on the N-G model could be used to tackle the tracking-control problem with accuracy and effectiveness, together with the faster convergent speed than that based on the backstepping algorithm. Generally speaking, with the appropriate increase of design parameters, the controller based on the N-G model could improve convergence performance for nonlinear strict-feedback system.

关键词： Output tracking-control nonlinear strict-feedback system recurrent neural network backstepping algorithm

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Adaptive robust output tracking of uncertain strict-feedback nonlinear time-delay systems via control schemes with simple structure

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2017年第12期48卷 2669-2681页

作者： Wu, Hansheng Prefectural Univ Hiroshima Dept Informat Sci Hiroshima Japan

The output tracking control problem is considered for a class of uncertain strict-feedback nonlinear systems with time-varying delays. In the paper, the time-varying delays are assumed to be any non-negative continuous and bounded functions, and it is not necessary for their derivatives to be less than one. It is also assumed that the upper bounds of nonlinear delayed state perturbations and external disturbances are unknown. On the basis of backstepping algorithm, a novel design method is proposed by which some simple adaptive robust output tracking control schemes are synthesised. The proposed design method can avoid the repeated differentiation problem which appears in using the conventional backstepping algorithm, and need not know all the nonlinear upper bound functions of uncertainties, which are repeatedly employed at each step of the backstepping algorithm. In particular, it is not necessary to knowany information on the time-varying delays to construct our simple output tracking control schemes. It is also shown that the tracking error can converge uniformly exponentially towards a neighbourhood of the origin. Finally, a numerical example and its simulations are provided to demonstrate the design procedure of the simple method proposed in the paper.

关键词： Nonlinear time-delay systems uncertainty adaptive control backstepping algorithm uniform exponential boundedness output tracking

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The Unmanned Surface Vehicle Course Tracking Control with Input Saturation 36

The Unmanned Surface Vehicle Course Tracking Control with In...

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第36届中国控制会议

作者： Yiming Bai Yongsheng Zhao Yunsheng Fan Information Science and Technology College Dalian Maritime University

ISBN: (纸本)9781538629185

The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary design system is employed to handle the effect of input saturation. The simulation is carried out to verify the backstepping control design.

关键词： Course tracking input saturation backstepping algorithm

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The Path Following Controller Design of Unmanned Surface Vehicle 12

The Path Following Controller Design of Unmanned Surface Veh...

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12th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zhao, Yongsheng Bai, Yiming Dalian Maritime Univ Informat Sci & Technol Coll Dalian 116026 Peoples R China

ISBN: (纸本)9781509061617

In this paper, a path following controller of unmanned surface vehicle is proposed to solve the input saturation of the limitation in the steering engine. Based on the Lvapunov stability theory, the controller is designed with backstepping method. An auxiliary system is introduced to handle the effect of input saturation. In the end, the simulation results verify the backstepping control design.

关键词： Path fallowing USV backstepping algorithm

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The USV Path Following Controller Design

The USV Path Following Controller Design

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4th International Conference on Information, Cybernetics and Computational Social Systems (ICCSS)

作者： Bai, Yiming Zhao, Yongsheng Li, Tieshan Dalian Maritime Univ Informat Sci & Technol Coll Dalian 116026 Peoples R China Dalian Maritime Univ Nav Coll Dalian 116026 Peoples R China

In this paper, a path following controller is designed for unmanned surface vehicle (USV) to solve the input saturation in the steering engine. Based on the Lyapunov stability theory, the controller is designed with b... 详细信息

ISBN: (纸本)9781538632574

关键词： Path following backstepping algorithm Lyapunov stability theory

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Wind Disturbance Rejection in Position Control of Unmanned Helicopter by Nonlinear Damping 11th

Wind Disturbance Rejection in Position Control of Unmanned H...

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11th International Conference on Computer Vision Systems (ICVS)

作者： Zhu, Xiaorui Yin, Lu Deng, Fucheng Harbin Inst Technol Shenzhen Shenzhen 518055 Guangdong Peoples R China

ISBN: (纸本)9783319683454;9783319683447

This paper presents a new design of a Lyapunov-redesigned control system for large horizontal wind disturbance rejection on a small-scale unmanned autonomous helicopter (UAH). In this paper, the wind disturbance cannot be treated as small perturbations around the equilibrium state any more. Instead, wind disturbances are considered as force/moment disturbances in the state equation. The force/moment caused by the wind can be estimated by the experimental data obtained in the wind tunnel. The whole control system consists of a nominal system controller and a wind disturbance controller. The nominal system controller is designed with back-stepping algorithm while the wind disturbance controller is designed with nonlinear damping algorithm. The nonlinear damping is introduced to ensure that the whole system has a uniformly bounded solution under uncertain large horizontal wind disturbances. Both longitudinal and lateral wind disturbances are considered in the simulation. The simulation results show the wind disturbances are well rejected and the proposed method can be effective for the position control of UAH in windy environment.

关键词： UAH Position control Wind disturbance rejection backstepping algorithm Nonlinear damping

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