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American control Conference (ACC)

作者： Shen, He Xu, Yunjun Remeikas, Charles Univ Cent Florida Dept Mech Mat & Aerosp Engn Orlando FL 32816 USA

ISBN: (纸本)9781457710964;9781457710957

Maintaining stable flight of small unmanned or micro aerial vehicles (SUAVs or MAVs) is complicated by many real world challenges. Inspired by biological systems, in this paper, an innovative pressure distribution based pitch control method is proposed. A nonlinear controller, which is robust to uncertainties and un-modeled dynamics, is designed to achieve accurate pitch control. It is expected that the flight control design utilizing the real-time sensed pressure information will significantly enhance the stability and agility of SUAVs or MAVs.

关键词： Micro aerial vehicle nonlinear robust control pressure sensor array aerospace control

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Vehicle creep control based on nonlinear robust method for dual-clutch transmission

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2017年第8期231卷 600-613页

作者： Zhou, Bin Lu, Tongli Zhang, Jianwu Hao, Hongtao Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat 800 Dongchuan Rd Shanghai 200240 Peoples R China Ningxia Univ Sch Mech Engn Yinchuan Peoples R China

This article proposed a nonlinear robust controller to achieve vehicle creep for dual-clutch transmission. The control problem is summarized as the tracking control, and linear quadratic approach is adopted to define the trajectory of the clutch slip before the controller design. The control scheme is derived from an error affine nonlinear system;meanwhile, by combining nonlinear H method with the backstepping technique, the nonlinear controller is programmed to achieve the tracking of the clutch slip trajectory against the model uncertainties or disturbance. The designed controller is evaluated by simulation model including the dynamic powertrain and hydraulic actuator model, and the results show that the nonlinear controller is effective in clutch slip tracking control and has better control performance than that of the proportional-integral-derivative in terms of disturbance attenuation.

关键词： Vehicle creep dual-clutch transmission hydraulic actuator linear quadratic nonlinear robust control

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A new and robust control strategy for a class of nonlinear power systems: Adaptive general type-II fuzzy

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2015年第6期229卷 517-528页

作者： Khooban, Mohammad Hassan Niknam, Taher Shiraz Univ Technol Dept Elect Engn Shiraz 0711 Iran

In this article, a robust direct adaptive general type-2 fuzzy logic controller is introduced for a class of nonlinear power systems. The proposed controller uses the advantages of general type-2 fuzzy logic system in handling dynamic uncertainties to approximate unknown nonlinear actions. Implementing general type-2 fuzzy system is computationally costly;however, by using a recently introduced -plane representation, general type-2 fuzzy logic system can be seen as a composition of several interval type-2 fuzzy logic systems with a corresponding level of for each. Linguistic rules are directly incorporated into the controller. In addition, an H compensator is corrupted to attenuate external disturbance and fuzzy approximation error. General type-2 fuzzy adaptation laws are also derived using Lyapunov approach. It is worth noting that mathematical analysis proves the stability of the closed-loop system. In order to evaluate the performance of the proposed controller, the results are compared with those obtained by direct adaptive type-1 fuzzy logic controller, a direct adaptive interval type-2 fuzzy logic controller and adaptive proportional-integral-derivative, which are the latest researches in the problem in hand. The proposed controller is applied to a chaotic power system as a case study. Simulation reveals the effectiveness of the proposed controller in presence of dynamic uncertainties and external disturbances.

关键词： Chaotic power systems general type-II fuzzy adaptive control nonlinear robust control

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nonlinear robust adaptive sliding mode control of influenza epidemic in the presence of uncertainty

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JOURNAL OF PROCESS control 2017年 56卷 48-57页

作者： Sharifi, Mojtaba Moradi, Hamed Sharif Univ Technol Dept Mech Engn Azadi Ave Tehran Iran Sharif Univ Technol Dept Mech Engn Azadi AvePOB 11155-9567 Tehran Iran

In this paper, a nonlinear robust adaptive sliding mode control strategy is presented for the influenza epidemics in the presence of model uncertainties. The nonlinear epidemiological model of influenza with five state variables (the numbers of susceptible, exposed, infected, asymptomatic and recovered individuals) and two control inputs (vaccination and antiviral treatment) is considered. The objective of the proposed controller is decreasing the number of susceptible and infected humans to zero by tracking the desired scenarios. As a result of this decreasing, the number of exposed and asymptomatic individuals is also decreased and converged to the zero. Accordingly, it is shown that the number of recovered humans is increased to its maximum steady state value. The stability and tracking convergence of the control system are proved via the Lyapunov stability theorem. For the first time, a robust controller is designed and investigated for the uncertain process of influenza treatment in a population. Through a comprehensive evaluation, the effects of treatment period and the uncertainty amount on the performance of the controlled system are studied. According to the results, the nonlinear sliding mode controller guarantees the robust performance against a wide range of parametric uncertainties. Moreover, it is shown that much less rates of vaccination and antiviral treatment are required as the treatment interval is increased. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： nonlinear robust control Adaptive sliding mode control Influenza epidemics Modeling uncertainty Lyapunov stability

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Operator-based robust nonlinear Optimal Vibration control for an L-shaped Arm Driven by Linear Pulse Motor

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2017年第5期15卷 2026-2033页

作者： Wu, Yanfeng Deng, Mingcong Tokyo Univ Agr & Technol Grad Sch Engn 2-24-16 Nakacho Koganei Tokyo 1848588 Japan

An L-shaped arm driven by a linear pulse motor is considered in this paper, an operator-based robust nonlinear control approach is proposed to reduce the vibration of the arm. First, by separating the arm into two parts, its vibration dynamics is modelled based on Euler-Bernoulli beam theory. Second, by using operator-based robust right coprime factorization approach, two control schemes are designed, one for controlling the linear pulse motor move to the desired destination and reducing the vibration of the arm with optimal trajectory, another one is to control vibration of the arm by using a piezoelectric actuator, where a tracking compensator is designed to compensate the hysteresis of the piezoelectric actuator and make the arm vibration track to the reference values. Finally, simulation results are demonstrated to verify the effectiveness of the proposed control scheme.

关键词： L-shaped arm nonlinear robust control operator theory piezoelectric actuator right coprime factorization vibration control

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Simplified robust control for nonlinear uncertain systems: a method of projection and online estimation

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AUTOMATICA 2005年第6期41卷 1079-1084页

作者： Saengdeejing, A Qu, ZH Univ Cent Florida Orlando FL 32816 USA Automated Imaging Syst Inc Orlando FL 32816 USA

robust control based on an online estimation of uncertainty is presented for a class of nonlinear uncertain systems. The estimation is done via a robust observer after the uncertainty vector is projected onto a one-dimensional subspace. The proposed combination of dynamics projection and online estimation is to relax the knowledge about the size of uncertainty and required in the robust control design, to make robust control less conservative while being effective, and to ensure robust stability without undue complexity. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： nonlinear robust control subspace projection uncertainty estimation

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nonlinear robust wheel slip rate tracking control for autonomous vehicle with actuator dynamics

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ADVANCES IN MECHANICAL ENGINEERING 2020年第6期12卷

作者： Zhang, Jiaxu Zhou, Shiying Zhao, Jian Jilin Univ State Key Lab Automot Simulat & Control Changchun 130022 Peoples R China China FAW Grp Co Ltd Intelligent Network R&D Inst Changchun Peoples R China

This article presents a novel nonlinear robust wheel slip rate tracking control strategy for autonomous vehicle with actuator dynamics. First, a simple yet effective wheel slip rate dynamic model with the lumped uncertainty is established as the basis of the nonlinear robust wheel slip rate tracking control strategy design. Second, a nonlinear robust wheel slip rate tracking control law with lumped uncertainty observer is derived via the Lyapunov-based method. The lumped uncertainty observer is used to estimate and compensate the lumped uncertainty of the system by combining the radial basis function neural network with the adaptive laws for the unknown optimal weight vector of the radial basis function neural network. Then, a novel tracking differentiator is designed to calculate the derivative of the desired wheel slip rate, which is an essential aspect of the proposed nonlinear robust wheel slip rate tracking control law. Finally, the performance of the proposed control strategy is verified based on straight line braking maneuvers with three typical signals.

关键词： Wheel slip rate tracking control actuator dynamics nonlinear robust control lumped uncertainty observer tracking differentiator

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robust nonlinear control for Six-phase Permanent Magnet Synchronous Motor with Intelligent Uncertainty Observer 36

Robust Nonlinear Control for Six-phase Permanent Magnet Sync...

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第36届中国控制会议

作者： Liu Sheng Guo Xiaojie Wang Yuchao College of Automation Harbin Engineering University

ISBN: (纸本)9781538629185

This paper proposes a robust adaptive backstepping sliding mode control（ABSMC） algorithm for the speed regulation of a six-phase permanent magnet synchronous motor（PMSM）. In the proposed technique, ABSMC is used to guarantee the speed tracking and parameter perturbation suppression, meanwhile, nonlinear H is utilized to minimize the influence of fastvarying load disturbances on its tracking output. To increase the anti-interference robustness and parameter insensitivity of the drive system, an uncertainty observer based on the recurrent wavelet fuzzy neural network is designed and applied to the robust ABSM controller. The effectiveness of the proposed control algorithm is verified by experimental results.

关键词： Permanent magnet synchronous motor（PMSM） adaptive backstepping sliding mode（ABSM） nonlinear robust control recurrent wavelet fuzzy neural network（RWFNN） uncertainty observer

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Modeling and robust nonlinear control of a fixed-wing UAV

Modeling and robust nonlinear control of a fixed-wing UAV

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IEEE Conference on control and Applications (CCA)

作者： Lesprier, Jeremy Biannic, Jean-Marc Roos, Clement Off Natl Etud & Rech Aerosp Syst Control & Flight Dynam Dept Toulouse France

ISBN: (纸本)9781479977871

A modeling procedure of a fixed-wing UAV as well as a robust controller design methodology are proposed in this paper. Based on the general flight mechanics equations, a numerical model is easily obtained and the steps to determine the aerodynamic coefficients and the actuators dynamics are also explained. Open loop simulations compared with flight data validate the approach. For the design of longitudinal control laws, two strategies are exposed. The first one is based on the classical pole placement method, which serves as a basis for a more recently developed approach. The latter combines partially linearizing inner loops with structured and robust outer loops, which are designed by a non-smooth multi-model H-infinity approach. Successfully tested on simulations, the resulting controller is easily implementable for future experimental flight

关键词： UAV Modeling Flight Mechanics nonlinear robust control Feedback Linearization

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nonlinear adaptive robust motion control for hydraulic winch in oil and gas wireline operation 21st

Nonlinear adaptive robust motion control for hydraulic winch...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Bu, Fanping Schlumberger Ind Internet Ctr Sugar Land TX 77478 USA

This paper presents the design and implementation of a nonlinear model based adaptive robust controller (ARC) for tool motion control driven by a hydrostatic transmission used in an Oil and Gas wireline operation. A detailed physical system model was built for controller design and testing. ARC controller was designed to address both parametric uncertainties and uncertain nonlinearities inherent in the nonlinear system dynamics The controller software development and testing followed a Model-Based Design (MBD) procedure. A micro-service architecture based on docker containers was adopted for the controller software which facilitated continuous integration and deployment. The preliminary testing results show the effectiveness of the ARC controller design. Copyright (C) 2020 The Authors.

关键词： Wireline operation in Oil & Gas Hydrostatic transmission Adaptive control nonlinear robust control Model-Based Design Docker container

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