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Fuzzy model-based disturbance rejection control for atomic force microscopy with input constraint

JOURNAL OF VIBRATION AND control 2023年第3-4期29卷 597-610页

作者： Mahmoudabadi, Parvin Tavakoli-Kakhki, Mahsan HosseinNia, S. Hassan KN Toosi Univ Technol Fac Elect Engn Shariati St Tehran *** Iran Delft Univ Technol Dept Precis Micro Syst Engn Delft Netherlands

Accurate representation of the atomic force microscopy (AFM) system is not only necessary to achieve control objectives, but it is also beneficial for detecting the nanomechanical properties of the samples. To this end, this paper addresses the issue of controller design for the AFM system based on an accurate nonaffine nonlinear distributed-parameters model in which flexibility and distributed mass effects of the microcantilever beam are considered properly. First, a T-S fuzzy model is derived for this dynamical model of the AFM system in order to simplify the procedure of controller design. Then, a fuzzy model-based controller is designed to suppress the chaos and attenuate the disturbance in the AFM system through the linear matrix inequality (LMI) formulation. Moreover, by considering some criteria for disturbance rejection and transient performance, and some constraints on control input and states, new stabilization conditions are proposed based on a fuzzy Lyapunov function. Finally, simulation results are represented to demonstrate the effectiveness of the proposed method.

关键词： atomic force microscopy tapping mode T-S fuzzy model fuzzy Lyapunov function non-parallel distributed compensation (non-PDC) controller control input constraint

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Backstepping control of hypersonic vehicles under input and output constraints with model uncertainties and disturbances

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INTERNATIONAL JOURNAL OF control 2025年第5期98卷 1147-1159页

作者： Gou, Xinyi Liu, Jinkun Liu, Baijun Zhang, Qingzhen Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

In this paper, considering the physical restriction of hypersonic vehicle systems in a practical flight environment, the altitude tracking problem is studied with input magnitude, input rate, output constraints, system parameter uncertainties and disturbances, which expands the traditional considerations of control methods in the hypersonic vehicle field. The hyperbolic tangent function is employed to address the system input constraints. Furthermore, the incorporation of barrier Lyapunov function serves to ensure that the system output is limited in the prescribed limitations. In particular, two extended state observers are integrated to eliminate errors from model uncertainties and disturbances. Based on the effective combination of these techniques and auxiliary variable designs, a novel backstepping controller is proposed to simultaneously handle problems of input and output constraints, model uncertainties and disturbances. The closed-loop system stability is demonstrated using the Lyapunov theory. Simulation results show the effectiveness and superiority of the proposed controller compared with the traditional backstepping controller.

关键词： Hypersonic vehicle control input constraint output constraint hyperbolic tangent function barrier Lyapunov function backstepping control

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Sliding mode predictive control: A survey

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ANNUAL REVIEWS IN control 2022年 54卷 148-166页

作者： Xiao, Huili Zhao, Dongya Gao, Shouli Spurgeon, Sarah K. China Univ Petr Dept Chem Equipment & Control Engn Qingdao 266580 Shandong Peoples R China UCL Dept Elect & Elect Engn London WC1E 7JE England

This paper reviews the development and application of sliding mode predictive control (SMPC) in a tutorial manner. Two core design paradigms are revealed in the combination of sliding mode control (SMC) and model predictive control (MPC). In the first case, MPC is used in the reaching phase to ensure a sliding mode is attained. In the second case, MPC is used to solve the existence problem and define the required performance in the sliding mode. The two approaches are discussed in detail from the perspectives of both theory and application. Finally, some future challenges and opportunities in the area of SMPC are summarized.

关键词： Sliding mode control Model predictive control Sliding mode predictive control Optimal control control input constraint

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Constrained Robust control by a Novel Dynamic Sliding Mode Surface

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2022年第3期20卷 823-830页

作者： Zare, Kazem Shasadeghi, Mokhtar Niknam, Taher Asemani, Mohammad Hassan Mobayen, Saleh Shiraz Univ Technol Dept Elect & Elect Engn Shiraz Iran Shiraz Univ Dept Elect & Comp Engn Shiraz Iran Natl Yunlin Univ Sci & Technol Future Technol Res Ctr 123 Univ RdSect 3 Touliu 64002 Yunlin Taiwan

In this paper, a sliding mode control (SMC) using a novel dynamic sliding surface is proposed for multi-input multi-output (MIMO) nonlinear systems. The proposed control design provides a robust approach with additional degrees of freedom to satisfy the control input constraint. By decomposing the original system into subsystems, the coupling dynamic terms are modelled in the form of system uncertainties. The dynamic sliding surface is established from inspiring state-space representation of an LTI system with error as input, internal states, and the surface as output. Moreover, the adaptive law is designed to estimate the upper bounds of uncertainties. The performance of the proposed controller is evaluated through a benchmark quadruple-tank process (QTP).

关键词： control input constraint dynamic sliding surface quadruple-tank process sliding mode control

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Dynamic event-triggered data-driven iterative learning consensus control for nonlinear MASs with unknown disturbance

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2024年

作者： Liu, Qinghai Ren, Hongru Zhou, Qi Li, Hongyi Guangdong Univ Technol Sch Automat Guangdong Hong Kong Joint Lab Intelligent Decis & Guangzhou 510006 Guangdong Peoples R China Guangdong Univ Technol Guangdong Prov Key Lab Intelligent Decis & Coopera Guangzhou Peoples R China Southwest Univ Coll Elect & Informat Engn Chongqing Peoples R China

This work tackles the consensus problem for nonlinear nonaffine multi-agent systems (MASs) with unknown disturbances using a data-driven iterative learning control (DDILC) scheme. The unknown model of the agent is first converted through dynamic linearisation into a equivalent data model, comprising a linear combination of an unknown dynamic parameter and an uncertain term. An adaptive algorithm is then formulated to estimate the unknown dynamic parameters accurately. The total uncertainty, which arises from the parameter estimation error and the uncertain term, is estimated by the extended state observer. The estimations are used by the controller to compensate for total uncertainty. Further, considering the resource limitations of communication and the constraints of the actual control input, a constrained iterative learning controller with a dynamic event-triggered mechanism is developed, which guarantees control performance and reduces the number of communications in MASs. It is proven that the tracking error asymptotically approaches a small bound around zero under the proposed DDILC framework. The simulation results confirm the effectiveness of the theoretical research.

关键词： Multi-agent systems data-driven iterative learning control extended state observer dynamic event-triggered mechanism control input constraint

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Leader-follower consensus control for a nonlinear multi-agent robot system with input saturation and external disturbance

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SYSTEMS SCIENCE & control ENGINEERING 2021年第1期9卷 260-271页

作者： Naserian, Majid Ramazani, Amin Khaki-Sedigh, Ali Moarefianpour, Ali Islamic Azad Univ Sci & Res Branch Dept Elect Engn Tehran Iran Tarbiat Modares Univ Tehran Dept Elect Engn Tehran Iran KN Toosi Univ Technol Dept Elect Engn Tehran Iran

This paper addresses the leader-follower consensus control problem for a nonlinear multi-agent robot system with control input constraint and external disturbances. Robot system is one of the most important practical systems in the industry. Due to the presence of disturbances in most practical systems, this paper considers the issue of finite-time leader-follower consensus control of the nonlinear multi-agent robot system along with actuator saturation and bounded disturbance. The modified terminal sliding mode control method is suggested for the system which is able to guarantee the stability of the overall system and fast finite-time leader-follower consensus control. For two different scenarios, the simulation of multi-agent robot system has been performed. The results show the effectiveness of the proposed control method.

关键词： control input constraint robot system multi-agent system sliding mode control finite-time leader-follower consensus control

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Consensus design with guaranteed cost for generic linear multi-agent systems subject to control input constraints

Consensus design with guaranteed cost for generic linear mul...

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Chinese Automation Congress (CAC)

作者： Wang, Le Yu, Wentao Xi, Jianxiang Liu, Guangbin Rocket Force Univ Engn Xian Peoples R China

ISBN: (纸本)9781728140940

This paper investigates the guaranteed cost consensus design problem for generic high-order multi-agent systems subject to control input constraints. Firstly, an intermittent consensus control protocol is constructed with intermittent local information, where the related weighted quadratic cost index is considered to trade off the consensus performance against the energy expenditure while achieving consensus. The guaranteed cost consensus analysis criterion is given by using linear matrix inequality methods. Meanwhile, a guaranteed cost is derived to show the upper bound of the cost index. Then, by the changing variable approach, the guaranteed-cost design criterion is presented. It is proved that multi-agent systems with control input constraints realize guaranteed cost consensus via designing the control gain of the consensus control protocol with the related cost index. Finally, a numerical simulation is provided to verified the effectiveness of the derived theoretical results.

关键词： Multi-agent system guaranteed cost control input constraint consensus design

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Constraining State Variables and control Signal via Sliding Mode control Approach

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IEEE ACCESS 2020年 8卷 111475-111481页

作者： Jaskula, Marek Lesniewski, Piotr Lodz Univ Technol Inst Automat Control PL-90924 Lodz Poland

In this paper the issue of constraining the control input and the state variables in continuous-time systems via sliding mode control was considered. The sliding mode controller was designed using the reaching law technique. Further, the time-varying convergence rate was selected so that the fastest, finite-time, monotonic convergence of the state to the predefined sliding hyperplane simultaneously satisfying both control input and state limitations is ensured. Sufficient condition that guarantees these properties was presented and proved.

关键词： Convergence Sliding mode control Switches Robustness Regulation System dynamics Continuous-time systems control input constraint sliding mode control state constraint

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Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

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ASIAN JOURNAL OF control 2020年第3期22卷 1268-1279页

作者： Wang, Lijun Shi, Qiuyue Liu, Jinkun Zhang, Dan Univ Sci & Technol Beijing Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Minist Educ Beijing Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.

关键词： backstepping control input constraint flexible joint manipulator hyperbolic tangent function Lyapunov function

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Optimum Design of Robust Adaptive controller with Actuator constraints

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2020年第11期18卷 2734-2741页

作者： Navabi, M. Mirzaei, Hamidreza Davoodi, Ali Shahid Beheshti Univ Fac New Technol Engn Gc Iran Clemson Univ Dept Mech Engn Clemson SC 29634 USA

In this paper, a direct optimal adaptive nonlinear tracking control method for a class of uncertain Multi-input Multi-Output (MIMO) nonlinear systems with actuator amplitude constraints in presence of unknown disturbance is developed. In order to handle parametric model uncertainties and external disturbance, an adaptive controller is presented. Particle Swarm Optimization (PSO) algorithm is employed to prevent constraints violation through determining the optimal adaptive controller parameters. The performance of this control approach is studied using a new index function in time-domain, and the stability analysis is conducted by Lyapunov theory. In addition, indicative robot examples are provided to illustrate how investigated method effectively stabilizes system and confines tracking error to prescribed bounds without control input saturation, particularly with large parametric uncertainties.

关键词： control input constraint Lyapunov method optimal adaptive control PSO algorithm

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