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A Global Sensitivity Analysis Method for multi-input multi-output system and its Application in Structural Design

INTERNATIONAL JOURNAL OF COMPUTATIONAL METHODS 2022年第6期19卷

作者： Liu, Qiming Tong, Nichen Han, Xu Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300401 Peoples R China Hunan Univ Coll Mech & Vehicle Engn State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Peoples R China

Commonly, variance-based global sensitivity analysis methods are popular and applicable to quantify the impact of a set of input variables on output response. However, for many engineering practical problems, the output response is not single but multiple, which makes some traditional sensitivity analysis methods difficult or unsuitable. Therefore, a novel global sensitivity analysis method is presented to evaluate the importance of multi-input variables to multi-output responses. First, assume that a multi-input multi-output system (MIMOS) includes n variables and m responses. A set of summatory functions G(x) and H(x) are constructed by the addition and subtraction of any two response functions. Naturally, each response function is represented using a set of summatory function. Subsequently, the summatory functions G(x) and H(x) are further decomposed based on the high dimensional model representation (HDMR), respectively. Due to the orthogonality of all the decomposed function sub-terms, the variance and covariance of each response function can be represented using the partial variances of all the decomposed function sub-terms on the corresponding summatory functions, respectively. The total fluctuation of MIMOS is calculated by the sum of the variances and covariances on all the response functions. Further, the fluctuation is represented as the sum of the total partial variances for all the s-order function sub-terms, and the total partial variance is the sum of n partial variances for the corresponding s-order function sub-terms. Then, the function sensitivity index (FSI) FSIs for s-order function sub-terms is defined by the ratio of the total partial variance and total fluctuation, which includes first-order, second-order, and high-order FSI. The variable sensitivity index VSIi of variable xi is calculated by the sum of all the FSIs including the contribution of variable xi. Finally, numerical example and engineering application are employed to demonstrate the

关键词： Global sensitivity analysis high-dimensional model representation variance and covariance decomposition multi-input multi-output system

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Practically Implementable Model Predictive Controller for a Twin Rotor multi-input multi-output system

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL systemS 2017年第3期28卷 358-370页

作者： Raghavan, Rajashree Thomas, Susy Natl Inst Technol Calicut Dept Elect Engn Calicut Kerala India

Model Predictive Control (MPC) is a well-established control strategy for the optimal control of constrained multivariable systems. Twin Rotor multi-input multi-output system (TRMS) is a nonlinear system with significant cross-coupling between the horizontal and vertical axes presenting formidable challenges in modelling and control design. There are instances when a theoretical design may pose problems when it comes to practical implementation, particularly when the design is for nonlinear systems. In this context, this paper presents a practically implementable MPC design for TRMS which has been implemented successfully on a laboratory TRMS test-rig. The presented design is more suited for TRMS because it can handle the control constraints associated with the system through the optimization algorithm underlying the MPC scheme. From the view point of the system, all the control objectives are addressed, viz., stabilizing the system in a coupled condition and making its beam to track a specified reference trajectory or reach desired positions in 2DOF (two degrees of freedom) without violating the control input constraints. The design also incorporates the disturbance rejection requirement. Both simulation and experimental results are presented to show that the results from practical implementation are in accordance with the simulated results.

关键词： Constrained control Cross-coupling Disturbance rejection Model Predictive Control Twin Rotor multi-input multi-output system

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Extended State Observer-Based Sliding Mode Control for multi-input multi-output system with multiple Disturbances

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL systemS 2017年第1期28卷 11-25页

作者： Brisilla, R. M. Sankaranarayanan, V. Natl Inst Technol Dept Elect & Elect Engn Tiruchirappalli 620015 Tamil Nadu India

This paper proposes a generalized design procedure for the extended state observer-based sliding mode control for multi-input multi-output linear systems with multiple disturbances (matched and/or mismatched) using an extended state observer. First, the system is transferred to a regular form to decouple the states having matched and mismatched uncertainties;then, a novel sliding surface is designed based on the state and disturbance estimation obtained through extended state observer (ESO). The proposed generalized ESO-based sliding mode controller (SMC) is designed to counteract the effect of matched and/or mismatched disturbances which are bounded, while the classical SMC fails to provide the desired performance in the presence of mismatched disturbance. This paper develops a simple method for the design of sliding surface coefficients and the selection of switching gain. The proposed control strategy is validated through numerical simulations, and the comparison with ESO-based state feedback control shows a reduced-order closed-loop dynamics and better transient performance.

关键词： Sliding mode control Extended state observer multi-input multi-output system Permanent magnet synchronous motor

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Design of an experimental twin-rotor multi-input multi-output system

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COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2015年第4期23卷 578-586页

作者： Bayrak, Alper Dogan, Firat Tatlicioglu, Enver Ozdemirel, Barbaros Abant Izzet Baysal Univ Dept Elect & Elect Engn TR-14280 Bolu Turkey Izmir Inst Technol Dept Elect & Elect Engn TR-35430 Izmir Turkey

Twin-rotor multi-input multi-output system (TRMS) is a popular experimental setup utilized mostly for development and evaluation of aerovehicle control algorithms. Motivated by its popularity, construction steps of a TRMS setup in an academic setting are presented in this paper. Specifically, design of mechanical and electronic hardware components and development of related computer software are described in detail. Preliminary experiment results are also presented to demonstrate the performance of the system. (c) 2015 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:578-586, 2015;View this article online at;DOI

关键词： Twin-rotor multi-input multi-output system experimental setup system design

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A new adaptive identification framework for nonlinear multi-input multi-output systems under colored noise

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APPLIED MATHEMATICAL MODELLING 2022年 103卷 105-121页

作者： Li, Linwei Zhang, Huanlong Zhang, Jie Ren, Xuemei Zhengzhou Univ Light Ind Sch Elect & Informat Engn Zhengzhou 450000 Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China

In this paper, an adaptive identification scheme is proposed for nonlinear multi-input multi-output systems with colored noise based on a novel parameter update law. With the help of the hierarchical principle, the identification model is decomposed into three sub-models in which the computational burden is reduced. For each sub-model, the identification algorithm is proposed to estimate the sub-model parameters. In the process of the identification algorithm design, considering the system information corrupted by the noise, an adaptive filter gain is exploited to extract helpful identification data, in which a filter is designed using the system data instead of the independent design. Based on several auxiliary filtered variables, the estimation error data are obtained, and a new parameter adaptive law with a variable learning gain is proposed according to the estimation error data. Compared with the classic parameter update law, the parameter estimation update is derived based on the estimation error information instead of other error information, such as prediction error information. Under the persistent excitation condition, all the estimated parameters converge to the true parameters. an example is used and two experiments are conducted to test the outstanding identification performance of the proposed algorithm in terms of convergence rate and identification accuracy. (c) 2021 Elsevier Inc. All rights reserved.

关键词： multi-input multi-output system Adaptive parameter estimation Identification error information Hierarchical principle

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Simplified and intelligent controllers for multi-input multi-output processes

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2025年 141卷

作者： El-Khatib, Mohamed Fawzy Khater, Feaka M. H. Hendawi, Essam Abu El-Sebah, Mohamed I. Egyptian Russian Univ Fac Engn Mechatron & Robot Engn Dept Cairo 11829 Egypt Elect Res Inst Power Elect & Energy Convers Dept Cairo 11843 Egypt Taif Univ Coll Engn Dept Elect Engn POB 11099 Taif 21944 Saudi Arabia

Designing a controller to serve a process like a multi-input multi-output (MIMO) system is complicated due to unknown parameters, unmodeled nonlinearities, and unknown multiple-input couplings. Several controllers, such as the proportional-integral-derivative (PID) controller, have been introduced for the MIMO system to enhance its dynamic response due to their simplicity in design. This study aims to improve and develop the PID controller to be simpler and more intelligent. This paper proposes the design and verification of three controllers based on the multi-degree of freedom (MDOF) concept: the simplified optimum intelligent PID (SOI-PID) controller, the simplified universal intelligent PID (SUI-PID) controller, and the MDOF fuzzy logic controller (MDOF-FLC) for a MIMO system. A comparison study with different algorithms like the fuzzy logic controller (FLC) and the two degree of freedom (DOF)-PID controller was implemented to test and evaluate the proposed controllers under two MIMO systems: a proposed simple MIMO system and the four DOF robot arm manipulator. Simulation and experimental results show that the proposed SOI-PID and SUI-PID controllers respond faster with a better response than the MDOF-FLC, FLC, and two DOF-PID controller. The proposed controllers convert the PID controller into an intelligent controller via a simple design compared with intelligent algorithms.

关键词： multi-input multi-output system multi degree of freedom fuzzy logic controller Simplified optimum intelligent controller Simplified universal intelligent controller Robotic arm

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A generalized sensitivity analysis method based on variance and covariance decomposition of summatory functions for multi-input multi-output systems

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COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING 2021年 385卷 114009-114009页

作者： Liu, Qiming Tong, Nichen Wu, Xingfu Han, Xu Chen, Chao Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300401 Peoples R China Hunan Univ Coll Mech & Vehicle Engn State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Hunan Peoples R China State Key Lab Adv Power Semicond Devices Zhuzhou 412001 Hunan Peoples R China

Sensitivity analysis is a useful means to quantify the impact of a set of input variables on an output response. However, many traditional sensitivity analysis methods are applicable only to multi-input single-output (MISO) systems and are powerless for multi-input multi-output (MIMO) systems. This paper presents a global sensitivity analysis method based on variance and covariance decomposition (VCD-GSA) of summatory functions for MIMO systems. For a MIMO system with n input variables and m output responses, a set of summatory functions can be constructed by the addition and subtraction of any two output response functions. Each output response function is represented using this set of summatory functions. The variances and covariances of all the output responses are obtained by the integral calculation of the high-dimensional model representations(HDMRs) of these summatory functions. We define the total fluctuation by the sum of the variances and covariances on multiple responses, and the partial fluctuations by the sum of partial variances of a series of summatory functions. Subsequently, we define the s-order sensitivity index of the MIMO system by the ratio of the partial fluctuation on s-order function terms in HDMRs and total fluctuation. The variable sensitivity index is the sum of all of the s-order sensitivity indices, including the contribution of the input variable. The proposed VCD-GSA method is suitable for a uniform or Gaussian distribution. It is also suitable for some complex problems involving variables with correlation. Several numerical examples and engineering applications demonstrate the advantage and practicality of the proposed VCD-GSA method. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Global sensitivity analysis (GSA) High dimensional model representations (HDMRs) Summatory functions Variance and covariance decomposition (VCD) multi-input multi-output system

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Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method

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SENSORS 2025年第5期25卷 1351-1351页

作者： Xu, Jianliang Sui, Zhen Xu, Feng Quzhou Coll Technol Sch Mech & Elect Engn Quzhou 324000 Peoples R China Jilin Univ Coll Commun Engn Changchun 130022 Peoples R China

As operational scenarios become more complex and task demands intensify, the requirements for the intelligence and automation of manipulators in industry are increasing. This work investigates the challenge of posture tracking control for hydraulic flexible manipulators by proposing a discrete-time integral terminal sliding mode predictive control (DITSMPC) method. First, the proposed method develops a second-order dynamic model of the manipulator using the Lagrangian dynamic strategy. Second, a discrete-time sliding mode control (SMC) law based on an adaptive switching term is designed to achieve high-precision tracking control of the system. Finally, to weaken the influence of SMC buffeting on the manipulator system, the predictive time domain function is integrated into the proposed SMC law, and the delay estimation of the unknown term in the manipulator system is carried out. The DITSMPC scheme is derived and its convergence is proven. Simulation experiments comparing the DITSMPC scheme with the classical discrete-time SMC method demonstrate that the proposed scheme results in smooth torque changes in each joint of the manipulator, with the integral of torque variations being 5.22x103. The trajectory tracking errors for each joint remain within +/- 0.0025 rad, all of which are smaller than those of the classical scheme.

关键词： manipulator sliding mode control predictive control posture trajectory tracking disturbance compensation multi-input multi-output system

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Fixed-structure sampled-data feedforward control for multivariable motion systems

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MECHATRONICS 2025年 106卷

作者： Mae, Masahiro van Haren, Max Classens, Koen Ohnishi, Wataru Oomen, Tom Fujimoto, Hiroshi Univ Tokyo Tokyo Japan Eindhoven Univ Technol Eindhoven Netherlands Delft Univ Technol Delft Netherlands

Increasing performance requirements in high-precision mechatronic systems lead to a situation where both multivariable and sampled-data implementation aspects need to be addressed. The aim of this paper is to develop a design framework fora multi-input multi-output feedforward controller to improve continuous- time tracking performance through learning. The sampled-data feedforward controller is designed with physically interpretable tuning parameters using a multirate zero-order-hold differentiator. The developed approach enables interaction compensation for multi-input multi-output systems and the feedforward controller parameters are updated through learning. The performance improvement is experimentally validated in a multi-input multi-output motion system compared to the conventional feedforward controllers.

关键词： Feedforward control Reference tracking multi-input multi-output system Sampled-data control multirate inversion Iterative learning control

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A third-order sliding mode controller for nonlinear multivariable systems

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ASIAN JOURNAL OF CONTROL 2023年第5期25卷 3559-3568页

作者： Chawengkrittayanont, Panitnart Moore, Elvin J. Kuntanapreeda, Suwat King Mongkuts Univ Technol North Bangkok Dept Math Bangkok Thailand Ctr Excellence Math CHE Bangkok Thailand King Mongkuts Univ Technol North Bangkok Mech & Aerosp Engn Bangkok Thailand

This paper proposes a third-order sliding mode controller for nonlinear multivariable systems with uncertain parameters and subject to external disturbances. The controller achieves fast convergence rate, high tracking accuracy, and a reduced level of chattering. The stability of the controller and its global ultimately uniform convergence is proved by the Lyapunov stability theory. Simulation results on a single inverted pendulum system are given to illustrate the effectiveness of the proposed control scheme by comparing it with methods such as a second-order supertwisting controller, a third-order supertwisting controller, and an integral terminal third-order sliding mode controller.

关键词： finite-time convergence Lyapunov theory multi-input multi-output system third-order sliding mode control

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