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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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Study on nonlinear robust control for Permanent Magnet Linear Servo System

Study on Nonlinear Robust Control for Permanent Magnet Linea...

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International Conference on Manufacturing Science and Technology (ICMST 2011)

作者： Lan, Yipeng Lan, Hongxuan Zhao, Hui Shenyang Univ Technol Sch Elect Engn Shenyang Peoples R China

ISBN: (纸本)9783037852958

nonlinear robust controllers were proposed for permanent magnet linear servo system. In order to reach accurate track of the motor speed and current, an error system dynamic equation based on the motor nonlinear mathematical model was established. The track and disturbance suppression was summed up the design of nonlinear (H infinity) robust controllers. Two theories used in describing nonlinear (H infinity) robust controllers were obtained by defining proper storage function. The equations of nonlinear (H infinity) robust controllers which met disturbance suppression and asymptotical stability were proved. The results of simulation test indicate that the linear servo system with nonlinear (H infinity) robust controllers can guarantee disturbance suppression and the tracks of input signal.

关键词： linear motor servo system nonlinear robust control disturbance restraint asymptotical stability

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Indirect robust suboptimal control of two-satellite electromagnetic formation reconfiguration with geomagnetic effect

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ADVANCES IN SPACE RESEARCH 2019年第11期64卷 2331-2344页

作者： Qi, Da-wei Yang, Le-ping Zhang, Yuan-wen Cai, Wei-wei Natl Univ Def Technol Coll Aerosp Sci & Engn Changsha 410073 Hunan Peoples R China

As a novel approach to control the relative motion of a satellite formation, electromagnetic formation flight (EMFF) has some prominent advantages, such as no propellant consumption and no plume contamination, and has a broad prospect of application in such fields as on-orbit detection and optical interferometry. The current paper investigates the optimal control for the reconfiguration of a two-satellite electromagnetic formation using the nonlinear quadratic optimal control technique. Specifically, the effects of the Earth's magnetic field on the EMFF satellites are analyzed, and then the nonlinear translational dynamic model of a two-satellite electromagnetic formation is derived by utilizing the analytical mechanics theory. Considering the high nonlinearity and coupling in the dynamic model and the actuator saturation, a closed-loop robust suboptimal control strategy based on the indirect robust control scheme and the theta - D technique is proposed with robust stability and optimality. To ensure a further reduction of control input, the designed suboptimal controller is modified by applying the Tracking-Differentiator. The feasibility of the derived translational dynamics and proposed control strategy for the robust reconfiguration mission is validated through theoretical analysis and numerical simulations. (C) 2019 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Electromagnetic formation flight Lagrangian equation nonlinear robust control Tracking control

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A mixed PI/VI design method for nonlinear H∞ control

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INTERNATIONAL JOURNAL OF robust AND nonlinear control 2019年第17期29卷 6274-6287页

作者： Liu, Lijun Zhu, Chunhui Wei, Fang Yu, Zhen Xiamen Univ Dept Automat Xiamen Fujian Peoples R China AECC Commercial Aircraft Engine Co Ltd Res & Dev Ctr Shanghai Peoples R China Xiamen Univ Inst Electromagnet & Acoust Room 439Phys BldgHaiyun Campus Xiamen 361005 Fujian Peoples R China

This paper proposes a new mixed policy iteration and value iteration (PI/VI) design method for nonlinear H-infinity control based on the theories of polynomial optimization and Lasserre's hierarchy. The design of a mixed PI/VI controller can be carried out in four steps: firstly, initialize design parameters and expand nonlinear system matrices;secondly, obtain a polynomial matrix inequality for policy improvement;thirdly, obtain the Lasserre's hierarchy of a global polynomial optimization problem for value improvement;fourthly, perform the mixed PI/VI algorithm to approximate the optimal nonlinear H-infinity control law. The novelty of this work lies in that the problem of designing a nonlinear H-infinity controller is translated into a polynomial global optimization problem, which can be solved by Lasserre's hierarchy directly, and then, the mixed PI/VI algorithm is presented to approximate the optimal nonlinear H-infinity control law by updating global optimizers iteratively. The main results of this paper consist of the mixed PI/VI algorithm and the related three theorems, which guarantee robust stability and performance of the closed-loop nonlinear system. Numerical simulations show that the mixed PI/VI algorithm converges very fast and achieves good robust stability and performance in transient behavior, disturbance rejection, and enlarging the domain of attraction of the close-loop system.

关键词： HJI equation Lasserre's hierarchy nonlinear robust control policy iteration value iteration

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Multivariable robust control of a horizontal wind turbine under various operating modes and uncertainties: A comparison on sliding mode and H∞ control

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2020年 115卷 105474-000页

作者： Nayeh, Reza Faraji Moradi, Hamed Vossoughi, Gholamreza Sharif Univ Technol Dept Mech Engn POB 11155-9567 Tehran Iran

Wind turbines are generally controlled for the objectives of the turbine protection and generation of the acceptable power for the utility grid. In this paper, a nonlinear multivariable model of the wind turbine with a DFIG generator is considered. The rotor speed and the d-axis rotor current, as the controlled variables, are controlled via manipulation of the two generator voltages, as the control signals. Two robust control strategies including the sliding mode control and H(infinity )robust control, designed via mu-synthesis based on DK-iteration algorithm, are presented for switching between various operating modes. Development of an acceptable dynamic model and two innovative control strategies that lead to the good performance and stability against various sources of uncertainty and noise rejection, are some of the advantageous points of the designed controllers. Performance of these control strategies are evaluated and compared. During the wind turbine operation, obtaining a maximum active power and suppressing the reactive power are the control objectives. Results are presented for various profiles of the wind velocity. It is observed that the sliding mode controller has a better performance in the transient time response. Moreover, in comparison with H-infinity, sliding mode control approach leads to the less tracking error and settling time, but minor acceptable chattering exists.

关键词： Wind turbine-generator nonlinear robust control Multivariable control Uncertainty Sliding mode control H-infinity control

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Pressure Sensor Array Based nonlinear robust Pitch control for Small or Micro Aerial Vehicle

Pressure Sensor Array Based Nonlinear Robust Pitch Control f...

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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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robust nonlinear controller based on control Lyapunov function and terminal sliding mode for buck converter

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INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 2016年第6期29卷 1055-1069页

作者： Shotorbani, Amin Mohammadpour Babaei, Ebrahim Univ Tabriz Fac Elect & Comp Engn Tabriz Iran

This paper studies the sliding mode control (SMC) and terminal SMC (TSMC) techniques of output voltage regulation in dc-dc buck converters. In this paper, the conventional terminal sliding manifold (TSM), fast terminal sliding manifold, and adaptive terminal sliding manifold are investigated by using hysteresis-modulated control. In addition, proportional-integral-derivative-shaped TSM, PI-shaped TSM, and proportional-integral-derivative-integral-shaped TSM are proposed in order to overcome the problems of conventional TSMs. Furthermore, a new continuous controller based on control Lyapunov function (CLF), with pre-settable-fixed switching frequency, is suggested. CLF-based controller (CLF-bC) is also adapted to the discontinuous digital input of the buck converter. In the proposed CLF-bC, the switching frequency is completely independent and pre-settable. Stabilization, reference tracking, high performance dynamic response, robustness against parameter uncertainties, and rejection of disturbances (e.g., input voltage changes and load variations) are some advantages of the proposed controllers. Impact of the controllers' parameters on the performance of the system is also summarized. Finite-time stability of TSMs and proposed CLF-bC, and the robustness of CLF-bC against parameter variations and disturbances are mathematically proved. Performance of the proposed Adaptive TSMC (ATSMC), proportional-integral-derivative-TSMC, and CLF-bC has been verified through matlab simulations and compared with the conventional SMC and TSMC strategies. Copyright (c) 2016 John Wiley & Sons, Ltd.

关键词： adaptive terminal sliding mode control control Lyapunov function dc-dc buck converter 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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Continuous robust control for Series Elastic Actuator With Unknown Payload Parameters and External Disturbances

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 620-627页

作者： Meng Wang Lei Sun Wei Yin Shuai Dong Jingtai Liu Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University IEEE

In this paper, the torque tracking control problem for a class of series elastic actuators(SEAs) in the presence of unknown payload parameters and external disturbances is investigated. The uncertainties/disturbances rejection problem for SEAs is addressed from the view of a continuous nonlinear robust control development. Specifically, based on the analysis of a nonlinear SEA, the generic dynamics of SEA systems is described and a novel nonlinear control framework for SEAs is constructed. Then a RISE(robust integral of the sign of the error)-based second-order filter is introduced to synthesize the control law. Moreover, the control performance is theoretically ensured by Lyapunov analysis. Finally, some experimental results are included to demonstrate the superior performance of the proposed control method, in terms of transient response and robustness.

关键词： nonlinear robust control torque control series elastic actuator

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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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