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IEEE International Conference on Industrial Technology (ICIT)

作者： H. S. Ramadan H. Siguerdidjane M. Petit SUPELEC Gif-sur-Yvette France

VSC-HVDC transmission systems may overcome some unexpected stochastic time variant (STV) parameters uncertainties such as frequency disadjustments and cable parameters uncertainties inherent with AC grids. This paper first presents a mathematical modeling of VSC-HVDC transmission systems. These systems exhibit a nonlinear character, and therefore, two different methodologies for robust nonlinear controllers design based on Asymptotic Output Tracking (AOT) and the Sliding Mode control (SMC) techniques are investigated to control the VSC-HVDC transmission systems submitted to network nonlinearities introduced by requirements to power flow and line voltage. robust stabilizing feedback control laws are formulated to govern the DC link voltage and to control the active and reactive powers under STV parameters uncertainties. Both kinds of robust nonlinear controllers are demonstrated and compared through simulation studies on the VSC-HVDC transmission systems using MATLAB-Simulink software. Dealing with systems of high power ratings up to 300 MW, based on this comparison, the simulation results significantly clarify the controllers robustness and the control flexibility towards improving the system's dynamic behaviour and enhancing the system's stability under STV parameters uncertainties. Regarding the economical feasibility and the relative structural simplicity, the superiority of the controller based AOT over that of the SMC controller is pointed out.

关键词： AOT Dynamic behavior nonlinear robust control SMC Stability VSC-HVDC

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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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Conference on control Applications

作者： Jérémy Lesprier Jean-Marc Biannic Clément Roos Systems Control and Flight Dynamics Department of ONERA (The French Aerospace Lab) Toulouse France

ISBN: (纸本)9781479977970

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 .. approach. Successfully tested on simulations, the resulting controller is easily implementable for future experimental flight tests.

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

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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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l^∞-bounded robustness for nonlinear systems:: Analysis and synthesis

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IEEE TRANSACTIONS ON AUTOMATIC control 2003年第11期48卷 1875-1891页

作者： Huang, SD James, MR Australian Natl Univ Dept Engn Canberra ACT 0200 Australia

The purpose of this paper is to describe systematic analysis and design tools for robust control problems with l(infinity) criteria. We first generalize the Hill-Moylan-Willems framework for dissipative systems to accommodate l(infinity) criteria, and then derive state feedback and measurement feedback synthesis procedures for l(infinity) robust control problems. The information state framework is used for the measurement feedback robust control problem. Necessary and sufficient conditions are proved, and new synthesis procedures using dynamic programming are presented.

关键词： controller synthesis dissipative systems dynamic programming information states l(infinity) criteria nonlinear robust control

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robust full degree-of-freedom tracking control of a helicopter

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AUTOMATICA 2007年第11期43卷 1909-1920页

作者： Marconi, Lorenzo Naldi, Roberto Univ Bologna Dept Elect Comp & Syst Sci DEIS Ctr Res Complex Automates Syst G Evangelisti CASY I-40126 Bologna Italy

We consider the problem of controlling the vertical, lateral, longitudinal and yaw attitude motion of a helicopter along desired arbitrary trajectories with only restrictions on the time derivatives imposed by the functional controllability of the system. To this purpose we design a nonlinear controller, obtained by suitably combining feedforward control actions and high-gain and nested saturation feedback laws, which succeeds in enforcing the desired trajectories robustly with respect to uncertainties characterizing the physical and aerodynamical parameters of the helicopter. Experimental results are also given to show the effectiveness of the method to accomplish aggressive maneuvers. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： helicopter nonlinear robust control dynamic inversion saturation functions high-gain feedback

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Simultaneous Automatic control of Oxygen and Carbon Dioxide Blood Gases During Cardiopulmonary Bypass

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ARTIFICIAL ORGANS 2010年第6期34卷 503-512页

作者： Misgeld, Berno J. E. Werner, Jurgen Hexamer, Martin Ruhr Univ Bochum Dept Biomed Engn Inst Biomed Tech Sch Med D-44780 Bochum Germany

In this work an automatic control strategy is presented for the simultaneous control of oxygen and carbon dioxide blood gas partial pressures to be used during cardiopulmonary bypass surgery with heart-lung machine support. As the exchange of blood gases in the artificial extracorporeal lung is a highly nonlinear process comprising varying time delays, uncertainties, and time-varying parameters, it is currently being controlled manually by specially trained perfusionist staff. The new control strategy includes a feedback linearization routine with augmented time-delay compensation and two external linear gain-scheduled controllers, for partial oxygen and carbon dioxide pressures. The controllers were robustly tuned and tested in simulations with a detailed artificial lung (oxygenator) model in cardiopulmonary bypass conditions. Furthermore, the controllers were implemented in an ex vivo experiment using fresh porcine blood as a substitute fluid and a special deoxygenation technique to simulate a patient undergoing cardiopulmonary bypass. Both controllers showed robust stability during the experiments and a good disturbance rejection to extracorporeal blood flow changes. This automatic control strategy is proposed to improve patient's safety by fast control reference tracking and good disturbance rejection under varying conditions.

关键词： Automatic control Heart-lung machine Cardiopulmonary bypass Blood gas control nonlinear robust control Oxygen and carbon dioxide partial pressure

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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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Synchronization control of externally disturbed chaotic spacecraft in pre-assigned settling time

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2022年第1期236卷 87-106页

作者： Ahmad, Israr Shafiq, Muhammad Univ Technol & Appl Sci Nizwa Dept Math Nizwa 611 Oman Sultan Qaboos Univ Dept Elect & Comp Engn Muscat Oman

This article reports the design of a novel finite-time robust nonlinear controller for the synchronization of two identical chaotic spacecraft. The proposed controller does not cancel nonlinear terms appearing in the chaotic spacecraft dynamics. Avoiding the cancelation of the nonlinear terms of the plant by the controller makes the closed-loop robust stable in the presence of uncertainties in the chaotic spacecraft parameters;this concept blooms base for the design of computationally efficient simple control law. The proposed finite-time robust nonlinear controller (1) synchronizes two nearly identical chaotic spacecraft in finite-time duration, (2) expedites the convergence of errors vector to zero without oscillation, and (3) eradicates the effects of external disturbances. Analysis based on the Lyapunov second theorem proves that the synchronization error converges fast and verifying the closed-loop's robust global stability. The finite-time stability technique affirms the convergence of the synchronization error to zero in settling time. This research article also studies the effects of the exogenous disturbances and the controller parameter's slowly smooth variations on the closed-loop performance. The controller parameter variation analysis sets the procedure for tuning the controller parameters. The computer-based simulation results validate the theoretical findings and provide a comparative performance analysis with the other recently proposed synchronization feedback controllers. This article uses Mathematica 12.0 version in the Microsoft 10 environment for all the simulations.

关键词： nonlinear robust control chaos synchronization Lyapunov direct theorem chaotic spacecraft finite-time stability

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robust performance verification of adaptive robust controller for hard disk drives

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2008年第1期55卷 448-456页

作者： Taghirad, Harnid D. Jamei, Ehsan KN Toosi Univ Technol ARAS Res Grp Dept Elect Engn Tehran 163151355 Iran KN Toosi Univ Technol Off Int & Sci Corp Tehran 163151355 Iran

An adaptive robust controller (ARC) has, been recently developed for read/write head embedded control systems of hard disk drives (HDDs). This structure is applicable to both track seeking and track following modes, and it makes the mode switching control algorithms found in conventional HDD servosystems unnecessary. An Improved Desired Compensation ARC (IDCARC) scheme is proposed in this paper, in which the traditional ARC is powered by a dynamic adaptive term. In this approach the adaptation regressor is calculated using reference trajectory information. Moreover, a robust analysis of this method is developed, in which a controller designed based on a simple model of the system is verified in a closed loop performance of a more comprehensive model of the system. The simulation result verifies the significant improvement of the performance of IDCARC compared to that of ARC and its robustness for this model. It is observed that in the presence of large disturbances the proposed method preserves the stability and a suitable performance while the ARC fails even in stability.

关键词： adaptive robust control dynamic adaptation hard disk drive (HDD) nonlinear robust control robustness verification

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Neural-network-based adaptive robust precision motion control of linear motors with asymptotic tracking performance

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nonlinear DYNAMICS 2022年第2期108卷 1339-1356页

作者： Ding, Runze Ding, Chenyang Xu, Yunlang Yang, Xiaofeng Fudan Univ Acad Engn & Technol Shanghai Engn Res Ctr Ultraprecis Mot Control & M Shanghai 200433 Peoples R China Fudan Univ Sch Microelect State Key Lab ASIC & Syst Shanghai 200433 Peoples R China

High precision motion control of permanent magnet linear motors (PMLMs) is limited by undesired nonlinear dynamics, parameter variations, and unstructured uncertainties. To tackle these problems, this paper presents a neural-network-based adaptive robust precision motion control scheme for PMLMs. The presented controller contains a robust feedback controller and an adaptive compensator. The robust controller is designed based on the robust integral of the sign of the error method, and the adaptive compensator consists of a neural network component and a parametric component. Moreover, a composite learning law is designed for the parameter adaption in the compensator to further enhance the control performance. Rigorous stability analysis is provided by using the Lyapunov theory, and asymptotic tracking is theoretically achieved. The effectiveness of the proposed method is verified by comparative simulations and experiments on a PMLM-driven motion stage.

关键词： nonlinear robust control Adaptive control Neural network control Motion control

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