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11th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation

作者： Liu, Le Lekic, Aleksandra Popov, Marjan Delft Univ Technol NL-2628 CD Delft Netherlands

ISBN: (纸本)9783031197611;9783031197628

Due to its excellent performance, VSC-based high voltage direct current (HVDC) power systems draw significant attention. They are being heavily used in modern industrial applications, such as onshore and offshore wind farms, and for interconnection between asynchronous networks. However, the traditional proportional-integral (PI) control method is not robust enough to track the reference signal quickly and accurately during significant system disturbances. This paper proposes a robust adaptive back-stepping control (BSC) method that secures vulnerable power-electronic equipment. The adaptive BSC controller regulates the sum of capacitor energy, and the AC grid current through decoupled and closed control-loop design. The major advantage of the proposed control approach is the smooth transient response and accurate tracking ability, which is superior to classical control methods. In addition, the proposed methods have the merits of systematic and recursive design methodology and demand a low processing burden for Lyapunov functions and control laws. Moreover, the implementation particularities of the proposed approach are illustrated and verified for a power system digital twin using real-time digital simulator (RTDS).

关键词： MMC Energy controller nonlinear robust control Adaptive back-stepping control Lyapunov stability HVDC grids RTDS Digital twins

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State estimation-based control of COVID-19 epidemic before and after vaccine development

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JOURNAL OF PROCESS control 2021年 102卷 1-14页

作者： Rajaei, Arman Raeiszadeh, Mahsa Azimi, Vahid Sharifi, Mojtaba Shiraz Univ Sch Engn Dept Mech Engn Shiraz Iran Shiraz Univ Sch Elect & Comp Engn Dept Comp Sci & Engn & IT Shiraz Iran Stanford Univ Dept Energy Resources Engn Stanford CA 94305 USA Univ Alberta Dept Med Edmonton AB Canada Univ Alberta Dept Elect & Comp Engn Edmonton AB Canada

In this study, a nonlinear robust control policy is designed together with a state observer in order to manage the novel coronavirus disease (COVID-19) outbreak having an uncertain epidemiological model with unmeasurable variables. This nonlinear model for the COVID-19 epidemic includes eight state variables (susceptible, exposed, infected, quarantined, hospitalized, recovered, deceased, and insusceptible populations). Two plausible scenarios are put forward in this article to control this epidemic before and after its vaccine invention. In the first scenario, the social distancing and hospitalization rates are employed as two applicable control inputs to diminish the exposed and infected groups. However, in the second scenario after the vaccine development, the vaccination rate is taken into account as the third control input to reduce the susceptible populations, in addition to the two objectives of the first scenario. The proposed feedback control measures are defined in terms of the hospitalized and deceased populations due to the available statistical data, while other unmeasurable compartmental variables are estimated by an extended Kalman filter (EKF). In other words, the susceptible, exposed, infected, quarantined, recovered, and insusceptible individuals cannot be identified precisely because of the asymptomatic infection of COVID-19 in some cases, its incubation period, and the lack of an adequate community screening. Utilizing the Lyapunov theorem, the stability and bounded tracking convergence of the closed-loop epidemiological system are investigated in the presence of modeling uncertainties. Finally, a comprehensive simulation study is conducted based on Canada's reported cases for two defined timing plans (with different treatment rates). Obtained results demonstrate that the developed EKF-based control scheme can achieve desired epidemic goals (exponential decrease of infected, exposed, and susceptible people). (C) 2021 Elsevier Ltd. All rights reser

关键词： nonlinear robust control COVID-19 epidemic Extended Kalman filter (EKF) Social distancing, hospitalization and vaccination Lyapunov stability

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Adaptive Fuzzy robust control of a Bionic Mechanical Leg With a High Gain Observer

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IEEE ACCESS 2021年 9卷 134037-134051页

作者： Liao, Lihui Li, Baoren Wang, Yuanyuan Xi, Yi Zhang, Dijia Gao, Longlong Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol FESTO Pneumat Ctr Wuhan 430074 Peoples R China Hunan Univ Sci & Technol Sch Mech Engn Xiangtan 411100 Peoples R China

In this paper, an observer-based adaptive fuzzy robust controller is proposed for trajectory tracking control of a bionic mechanical leg (BML) with unmeasured system states, dynamic uncertainties and external disturbances. A high gain observer (HGO) is constructed to estimate the unavailable joint velocities using the joint position feedback signals, while an adaptive fuzzy logic system (AFLS) is employed to address the lumped uncertainties. The nonlinear robust controller is then synthesized via backstepping method to improve the position tracking performance. The stability of the closed loop system is mathematically demonstrated via the Lyapunov's stability theory. It is proven that under the proposed controller all the closed-loop signals are bounded and the trajectory tracking errors converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme is illustrated by simulation studies.

关键词： Robots Uncertainty Legged locomotion Observers Manipulator dynamics control systems Adaptive systems Bionic mechanical leg (BML) unmeasured system states dynamic uncertainty external disturbance high gain observer (HGO) fuzzy logic system (FLS) nonlinear robust control

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Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances

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OCEAN ENGINEERING 2023年第1期268卷

作者： Guerrero, Jesus Chemori, Ahmed Torres, Jorge Creuze, Vincent Tecnol Nacl Mex ITS Abasolo Guanajuato Mexico Univ Montpellier LIRMM CNRS Montpellier France Natl Polytech Inst CINVESTAV Ctr Res & Adv Studies Mexico City Mexico

This paper presents a new generalized super-twisting algorithm (GSTA) controller with a time-delay estimator (TDE) for the tracking control of an autonomous underwater vehicle (AUV) under disturbances. For exploration tasks in confined areas, AUVs are typically equipped with sensors such as Doppler velocity logs (DVL) or acoustic modems to measure their position and speed. However, these sensors have a disadvantage in that their acquisition rates are low. This disadvantage, combined with the influence of external disturbances, directly influences position control because it requires partial knowledge of the system for proper operation. To solve this problem, the introduction of a TDE that estimates the vehicle hydrodynamics with delayed sensor information, and consequently, improves the controller performance is proposed. For controller validation, a stability analysis is presented, and two results are provided in the simulation. In the first test, the AUV is controlled to track a parameterized spiral-shaped path to validate the vehicle movement in the three directions of the plane (x, y, z). In the second test, the AUV performs path tracking in yaw and depth motions. In all numerical simulations, three types of disturbances/uncertainties are considered: (i) system parameters, (ii) sensor readings, and (iii) control.

关键词： nonlinear robust control Time delay systems Sliding mode control Trajectory tracking AUVs

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Fast Tube-Based robust Compensation control for Fixed-Wing UAVs

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DRONES 2023年第7期7卷

作者： Wang, Lixin Zheng, Sizhuang Wang, Weijia Wang, Hao Liu, Hailiang Yue, Ting Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China AVIC Flight Automat Control Res Inst Xian 710065 Peoples R China

When considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing and dimensionality reduction techniques in real-time applications. In this paper, a nonlinear fast Tube-based robust Compensation control (TRCC) for fixed-wing UAVs is proposed to satisfy robustness and fast-solving requirements. Firstly, a solving method for discrete trajectory tubes was proposed to facilitate fast parallel computation. Subsequently, a TRCC algorithm was developed that minimized the trajectory tube to enhance robustness. Additionally, considering the characteristics of fixed-wing UAVs, dimensionality reduction techniques such as decoupling and stepwise approaches are proposed, and a fast TRCC algorithm that incorporates the control reuse method is presented. Finally, simulations verify that the proposed fast TRCC effectively enhances the robustness of UAVs during tracking tasks while satisfying the requirements for fast solving.

关键词： unmanned aerial vehicles nonlinear robust control robust compensation control trajectory tube fast robust control

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Operator Based Fractional Order control System for a Spiral Heat Exchanger with Uncertainties

Operator Based Fractional Order Control System for a Spiral ...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

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

ISBN: (纸本)9781665417525

This paper studies operator based nonlinear robust control of a spiral-plate heat exchanger by using fractional order derivative. First, some preliminary concepts of fractional order and operator theory are presented. Second, nonlinear fractional order derivative equation with uncertainties is described. Then, operator controller and fractional order controller are designed. Simulation illustrates control performance by comparison of different control scheme. Finally, conclusion and the future work are given.

关键词： nonlinear robust control order derivative equation a spiral heat exchanger heat transfer

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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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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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Integrated robust control of the Global Toroidal Rotation and Total Plasma Energy in Tokamaks

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IEEE TRANSACTIONS ON PLASMA SCIENCE 2020年第6期48卷 1606-1612页

作者： Pajares, Andres Schuster, Eugenio Lehigh Univ Dept Mech Engn & Mech Bethlehem PA 18015 USA

Integrated-control solutions will play a significant role in future tokamaks, in which a variety of coupled control problems will need to be solved simultaneously by means of a limited number of actuators. In this article, the problem of simultaneously regulating the global toroidal rotation, and total plasma energy, , is tackled. These two 0-D variables, and , depend on the ion toroidal rotation and electron temperature profiles, respectively. Both also depend on the electron density and safety factor profiles. The actuation methods considered in this article are co-current and counter-current neutral beam injection. A nonlinear, robust controller that makes use of Lyapunov redesign techniques is synthesized based on 0-D, control-oriented models of the and dynamics. In addition, an actuator management scheme is designed to handle variations in the control priorities and availability of the neutral beam injectors. The actuator manager solves an optimization problem in real time in order to find the most appropriate course of action when unexpected changes occur. The integrated control architecture is tested for a DIII-D scenario by means of the 1-D code control-Oriented Transport Simulator (COTSIM), which predicts the time evolution of the electron temperature, electron density, ion toroidal rotation, and safety factor profiles.

关键词： Toroidal magnetic fields Tokamaks Actuators Ions Plasma temperature Magnetohydrodynamics Integrated control nonlinear robust control tokamaks

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