检索结果-内蒙古大学图书馆

Adaptive dynamic surface control with Nussbaum gain for course-keeping of ships

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2014年 27卷 236-240页

作者： Du, Jialu Abraham, Ajith Yu, Shuanghe Zhao, Jie Dalian Maritime Univ Sch Informat Sci & Technol Dalian 116026 Peoples R China Sci Network Innovat & Res Excellence Machine Intelligence Res Labs Auburn WA 98071 USA Tech Univ Ostrava VSB Ctr Excellence IT4 Innovat Ostrava Czech Republic

Combining dynamic surface control and Nussbaum gain function with backstepping algorithm, a novel adaptive nonlinear control strategy is proposed for the nonlinear course control problem of ships with parameter uncertainties and completely unknown control coefficient. Dynamic surface control is incorporated into backstepping technique to overcome the problem of its inherent "explosion of terms" so that the control law is simpler and easier to implement in engineering. Nussbaum function is used to deal with the unknown sign of uncertain control coefficient and the possible controller singularity problem. By means of Lyapunov function and the lemma of Nussbaum function, it is proved theoretically that the designed adaptive nonlinear control law can force the actual course of ships to converge to and keep at the desired course of ships, while guarantee the global uniform boundedness of all signals of the resulting closed-loop control system. The effectiveness of the proposed scheme is demonstrated through the simulations involving two ships. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Course-keeping of ships backstepping algorithm Dynamic surface control Nussbaum gain

来源：评论

学校读者我要写书评

暂无评论

Adaptive Robust Nonlinear Control Design for Course-Tracking of Ships Based on Dynamic Surface Control

Adaptive Robust Nonlinear Control Design for Course-Tracking...

引用

32nd Chinese Control Conference (CCC)

作者： Du Jialu Zhao Jie Wu Yanbin Li Guangqiang Dalian Maritime Univ Sch Informat Sci & Technol Dalian 116026 Peoples R China Shanghai STEP Elect Corp Shanghai 201801 Peoples R China

ISBN: (纸本)9781479900305

A new adaptive robust approach is proposed for the nonlinear course control problem of ships with parameter uncertainties, completely unknown control gain and unknown bounded environmental disturbances based on backstepping. Nussbaum function is used to deal with the unknown sign of uncertain control gain and avoid the possible controller singularity problem. Dynamic surface control is combined with backstepping technique to overcome the problem of "explosion of terms". By means of Lyapunov function and the lemma of Nussbaum function, it is proved theoretically that the designed adaptive nonlinear controller can guarantee the global uniform ultimate boundedness of all signals of the resulting ship course tracking control system and make the course tracking error arbitrarily small by an appropriate choice of the design parameters. The simulations on the mathematical model of the ship are carried out. The simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： Course-Tracking of Ships Adaptive Robust Nonlinear Control backstepping algorithm Dynamic Surface Control Nussbaum Function

来源：评论

学校读者我要写书评

暂无评论

backstepping sliding mode tracking control of quad-rotor under input saturation

引用

International Journal of Intelligent Computing and Cybernetics 2012年第4期5卷 515-532页

作者： Xun Gong Yue Bai Zhicheng Hou Changjun Zhao Yantao Tian Qiang Sun School of Telecommunication Engineering Jilin UniversityChangchunChina Chang Chun Institute of Optics Fine Mechanics and Physics Chinese Academy of SciencesChangchunChina

Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability *** purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these ***/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude *** the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control *** consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the *** switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input ***–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this ***,with relation to the flying,the motor speed is kept in the predetermined ***/value–This article introduces a new flight control system designed for a quad-rotor.

关键词： Quad-rotor Double-loops backstepping algorithm Adaptive approximation Bounded control Prototype experiment Genetic algorithms Flight control

来源：评论

学校读者我要写书评

暂无评论

A New PID Control Method for Hydraulic Turbine Governor

A New PID Control Method for Hydraulic Turbine Governor

引用

2013 2nd International Conference on Recent Trends in Materials and Mechanical Engineering(ICRTMME 2013)

作者： Yinsong Wang Hongliang Zheng North China Electric Power University

This paper addresses analysis and design issues in PID control for hydraulic turbine using the backstepping *** first step consists in using a one-order filter to weaken the under-shoot effect caused by the non-stable zero in model,and then,adding an integral action to the basic backstepping algorithm to obtain a zero static error,therefore an integrator is added to the plant model and is then slid back to the controller equation at the end of the *** PID controller can be obtained by backstepping algorithm and comparison with conventional PID controller.

关键词： Hydraulic turbine backstepping algorithm PID controller Under-shoot One-order filter

来源：评论

学校读者我要写书评

暂无评论

Adaptive Integral backstepping Control for a 3-DOF Helicopter

Adaptive Integral Backstepping Control for a 3-DOF Helicopte...

引用

IEEE International Conference on Information and Automation (ICIA)

作者： Gao, Wei-Nan Fang, Zheng Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Liaoning Provin Peoples R China

ISBN: (纸本)9781467322379

Unmanned aerial vehicles have enormous potential applications in military and civil fields. A Quanser's 3-DOF helicopter is a simplified and benchmark experimental model for validating the effectiveness of various flight control algorithms. The attitude control of the 3-DOF helicopter is a challenging task since it is an under-actuated system with strong coupling and model uncertainty characteristics. In this paper, the dynamics model of the helicopter is established and an adaptive integral backstepping algorithm is applied to realize robust control of a 3-DOF helicopter. The proposed control algorithm can estimate model uncertainties online and improve the robustness of the system. Experimental results demonstrate that the proposed algorithm performs well in tracking and under model uncertainties.

关键词： Adaptive control Integral action backstepping algorithm 3-DOF helicopter Model uncertainties

来源：评论

学校读者我要写书评

暂无评论

Robust Adaptive Integral backstepping Control of a 3-DOF Helicopter

引用

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2012年第3期9卷

作者： Fang, Zheng Gao, Weinan Zhang, Lei Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Peoples R China

Unmanned aerial vehicles have enormous potential applications in military and civil fields. A Quanser's 3-DOF helicopter is a simplified and benchmark experimental model for validating the effectiveness of various flight control algorithms. The attitude control of the 3-DOF helicopter is a challenging task since the helicopter is an under-actuated system with strong coupling and model uncertainty characteristics. In this paper, an adaptive integral backstepping algorithm is proposed to realize robust control of the 3-DOF helicopter. The proposed control algorithm can estimate model uncertainties online and improve the robustness of the control system. Simulation and experiment results demonstrate that the proposed algorithm performs well in tracking and under model uncertainties.

关键词： Adaptive control backstepping algorithm Integral action 3-DOF helicopter Model uncertainties

来源：评论

学校读者我要写书评

暂无评论

Adaptive Nonlinear Controller Design for Course-Tracking of Ships Based on Dynamic Surface Control and backstepping

Adaptive Nonlinear Controller Design for Course-Tracking of ...

引用

31st Chinese Control Conference

作者： Zhao Jie Du Jialu Yu Shuanghe Liu Yuming Dalian Maritime Univ Sch Informat Sci & Technol Dalian 116026 Peoples R China

ISBN: (纸本)9789881563811

A new approach is proposed for the nonlinear course control problem of ships with parameter uncertainties and completely unknown control gain based on backstepping. Nussbaum function is used to deal with the unknown sign of uncertain control gain and avoid the possible controller singularity problem. Dynamic surface control is combined with backstepping technique to overcome the problem of "explosion of terms". By means of Lyapunov function and the lemma of Nussbaum function, it is proved theoretically that the designed adaptive nonlinear controller can guarantee the global uniform boundedness of all signals of the resulting ship course tracking control system and make the course tracking error arbitrarily small by an appropriate choice of the design parameters. The simulations on the mathematical models of two ships are carried out. The simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： Course-Tracking of Ships Adaptive Nonlinear Control backstepping algorithm Dynamic Surface Control Nussbaum gain

来源：评论

学校读者我要写书评

暂无评论

Model Based Nonlinear Controller Design for Fuel Rail System of GDI Engine

Model Based Nonlinear Controller Design for Fuel Rail System...

引用

FISITA 2012 World Automotive Congress--Volume 6:Vehicle Electronics

作者： Pengyuan Sun Baiyu Xin H.Chen J.Li China FAW Co. Ltd R&D Center Jilin University

The precise control of rail pressure in GDI engines is an important *** reduce the workload of calibration and enhance the robustness in automotive product development process,a model-based controller design method is presented in this paper.A control-oriented fuel rail system nonlinear dynamics model,involving the high pressure pump,the fuel rail and the injectors,is *** backstepping technique is used to derive a nonlinear rail pressure controller for the simplified *** simulation results with MATLAB/Simulink demonstrate the effectiveness of the proposed control scheme,and control precise and response satisfy the design requirements.

关键词： GDI engine Fuel rail high pressure control backstepping algorithm

来源：评论

学校读者我要写书评

暂无评论

Robust Adaptive Inverse Optimal Tracking for Strict-feedback Stochastic Nonlinear System

Robust Adaptive Inverse Optimal Tracking for Strict-feedback...

引用

International Conference on Smart Materials and Intelligent Systems

作者： Lu, Wang Naval Univ Engn Wuhan Peoples R China

ISBN: (纸本)9780878492237

For a class of strict-feedback nonlinear systems with unknown constant parameters, uncertainty in the input gains and standard Wiener-noise, combining the system function with the known reference signal, the error system is obtained. The adaptive inverse optimal controller and adaptive laws of parameters are designed using backstepping algorithm, thus the robust adaptive inverse optimal tracking problem of original system is solved.

关键词： uncertainty in the input gains backstepping algorithm inverse optimal

来源：评论

学校读者我要写书评

暂无评论

Adaptive Inverse Optimal Control for a Class of Nonlinear System

Adaptive Inverse Optimal Control for a Class of Nonlinear Sy...

引用

第三十届中国控制会议

作者： WANG Jun,JI Ping,CHU Zhong,LIU Wei Key Lab of Machine Vision and Intelligence Control Technology,Hefei University,Hefei 230601,P.R.China

This paper introduces the basic idea of adaptive inverse optimal control,gives the solvable theorem of inverse optimal gain assignment problem,design inverse optimal controller using backstepping algorithm and an adaptive update law for strict-feedback nonlinear continuous system with unknown time-varing bounded disturbance and constant unknown parameters,which is nonlinear,continuous and easier to *** adaptive control law and the parameter update laws can be obtained at the same time by this design *** results designed show simultaneously that inverse optimal systems yield stability margins,namely,achieving locally robustness,which is a nonlinear analog of Kalman's margins for the linear quadratic regulator.

关键词： Strict-Feedback System Unknown Time-Varing Bounded Disturbance Inverse Optimal backstepping algorithm Adaptive

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：