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43rd Chinese Control Conference (CCC)

作者： Li, Xiangyang Bai, Jianer Huang, Jian Wang, Bingbing Tian, Senping South China Univ Technol Sch Automat Sci & Engn Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Peoples R China Kunming Shipborne Equipment Res & Test Ctr Kunming 650051 Yunnan Peoples R China Changji Univ Aviat Coll Changji 831100 Peoples R China

ISBN: (纸本)9798350366907;9789887581581

The extended state observer (ESO) is the core of Active disturbance rejection control (ADRC) methodology. The paper proposes a new modified ESO which can overcome the initial peaking phenomenon and improve to adapt the abrupt change in disturbance change and keep the control system stable and enough accuracy. The adjustable parameter in modified ESO can be set according to the desired ESO performance which is hard to satisfy by just adjusting the bandwidth omega(o) of ESO. Simulations show that the proposed ADRC based on modified ESO has the same stable tracking performance and more effective to overcome initial peaking phenomenon and adapt setpoint and disturbance abrupt change.

关键词： Active disturbance rejection control (ADRC) extended state observer (ESO) nonlinear time-varying system impulsive disturbance

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ADRC based on modified ESO for nonlinear time-varying system with impulsive disturbance

ADRC based on modified ESO for nonlinear time-varying system...

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第43届中国控制会议

作者： Xiangyang Li Jianer Bai Jian Huang Bingbing Wang Senping Tian Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Automation Science and Engineering South China University of Technology Kunming Shipborne Equipment Research and Test Center Aviation College Changji University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The extended state observer(ESO) is the core of Active disturbance rejection control(ADRC) methodology. The paper proposes a new modified ESO which can overcome the initial peaking phenomenon and improve to adapt the abrupt change in disturbance change and keep the control system stable and enough accuracy. The adjustable parameter in modified ESO can be set according to the desired ESO performance which is hard to satisfy by just adjusting the bandwidth oof ESO. Simulations show that the proposed ADRC based on modified ESO has the same stable tracking performance and more effective to overcome initial peaking phenomenon and adapt setpoint and disturbance abrupt change.

关键词： Active disturbance rejection control(ADRC) extended state observer(ESO) nonlinear time-varying system impulsive disturbance

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nonlinear time-varying system identification with recursive Gaussian process

Nonlinear time-varying system identification with recursive ...

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American Control Conference

作者： Kwangwoo Seo Masaki Yamakita Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781509045839

Gaussian process model provides a flexible, probabilistic, non-parametric model. Many examples for system identification using Gaussian process have been reported and verified. However, for real plants that have secular change or whose properties change upon time, it is difficult to apply standard Gaussian process and it is important to keep the uncertainties of the modeling properly. In this paper, we consider a system identification for nonlinear time-varying systems using recursive Gaussian process (RGP). We propose two methods for this problem. One is RGP for long-term prediction, and the another is robust RGP for outliers. The effectiveness of the proposed methods will be shown by numerical simulations.

关键词： system identification nonlinear time-varying system RGP Gauss procedural model secular change Gaussian processes Recursive

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Robust ADRC for nonlinear time-varying system with Uncertainties 6

Robust ADRC for Nonlinear Time-varying System with Uncertain...

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2017 IEEE 6th Data Driven Control and Learning systems Conference (DDCLS’17)

作者： Xiangyang Li Wei Ai Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology IEEE Center for Advanced Control Technologies Department of Electrical and Computer EngineeringCleveland State University

ISBN: (纸本)9781509054626

Active disturbance rejection control(ADRC) exemplifies the spirit of the data-driven control(DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer(ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.

关键词： Active Disturbance Rejection Control(ADRC) Robust Control Extended State Observer(ESO) nonlinear time-varying system

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Exponential stability for nonlinear time-varying systems on time scales

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INTERNATIONAL JOURNAL OF CONTROL 2024年第7期97卷 1647-1657页

作者： Qiang, Cheng-Xiu Sun, Jian-Ping Zhao, Ya-Hong Lanzhou Univ Technol Coll Elect & Informat Engn Lanzhou 730050 Peoples R China Lanzhou Univ Technol Dept Appl Math Lanzhou 730050 Peoples R China

In this paper, some less conservative sufficient conditions for uniform exponential stability, local uniform exponential stability and uniform practical exponential stability of nonlinear time-varying systems on time scales are proposed. Compared with the traditional exponential stability results, the negative definiteness of the time derivatives of Lyapunov functions is weakened, that is, the time derivatives of related Lyapunov functions in this paper are allowed to be indefinite. The main tools used are some Gronwall's inequalities on time scales. Two examples are also included to verify the effectiveness of the results obtained.

关键词： time scale nonlinear time-varying system exponential stability Lyapunov function

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Adaptive control of nonlinear time-varying systems with unknown parameters and model uncertainties

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AEROSPACE SCIENCE AND TECHNOLOGY 2024年 155卷

作者： Ma, Zhenwei Wang, Qiufeng China Jiliang Univ Coll Informat Engn Hangzhou 310018 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

This paper investigates the adaptive control problem for nonlinear time-varying systems with unknown parameters and model uncertainties. A novel class of switching functions is designed, and its construction method is detailed, along with a proof of the continuity of its n - 1 order derivatives. Two simple examples are provided to illustrate how the proposed congelation of variables method handles unknown high-frequency time-varying parameters in both the feedback and input paths. A new neural network control scheme is then developed, integrating an adaptive neural network controller with a robust controller. The smooth transition between these two controllers is ensured by the novel switching function, which guarantees global system stability. Furthermore, by combining the congelation of variables method with adaptive backstepping, a new adaptive tracking control scheme is proposed. This scheme effectively handles unknown high-frequency time-varying parameters while achieving asymptotic tracking of arbitrary reference signals. Simulation results show that the proposed novel adaptive control method delivers superior control accuracy while reducing energy consumption: it achieves an order of magnitude improvement over the traditional adaptive robust control method and two orders of magnitude improvement over the conventional sliding mode control method.

关键词： nonlinear time-varying system Unknown parameter Model uncertainty Adaptive control Neural network

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Global adaptive neural network control of nonlinear time-varying systems with unknown control coefficients and model uncertainties

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AEROSPACE SCIENCE AND TECHNOLOGY 2024年 145卷

作者： Ma, Zhenwei Chen, Hongbo Wang, Qiufeng Yuan, Guangxia Sun Yat Sen Univ Sch Syst Sci & Engn Guangzhou 510006 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Qufu Normal Univ Coll Engn Rizhao 276826 Peoples R China

This paper investigates the adaptive control problem for the strict -feedback nonlinear time -varying system (NTVS) with unknown control coefficients and model uncertainties. To address the problem that the neural network (NN) can only achieve local approximation of unknown nonlinear functions, a novel NN control scheme is proposed. The scheme consists of a NN controller that operates inside the approximation domain and a robust controller that operates outside the approximation domain, and a novel switching function is designed to enable the two controllers to switch smoothly in the vicinity of the approximation domain to ensure that all signals of the closed -loop system are globally uniformly ultimately bounded. To address the problem that unknown time -varying control coefficients are difficult to handle, an adaptive fault -tolerant control scheme is proposed in combination with the congelation of variables method. The scheme employs classical adaptive control to adapt to the variation of unknown control coefficients and robust control to eliminate the time -varying disturbance terms, and introduces a positive integrable time -varying function to achieve asymptotic tracking of an arbitrary reference signal. The combination of these two schemes constitutes a global adaptive neural network control (GANNC) method for the NTVS with unknown control coefficients and model uncertainties. Finally, an adaptive attitude fault -tolerant controller for launch vehicles is designed by using the GANNC method, which can realize the accurate tracking of the attitude control system to the reference command under normal status, strong disturbances and actuator failures, and comparative experiments prove the effectiveness and superiority of the controller.

关键词： nonlinear time-varying system Adaptive control Neural network Congelation of variables method Adaptive backstepping design

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Variable-gain PD-type iterative learning control for a class of nonlinear time-varying systems

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ASIAN JOURNAL OF CONTROL 2024年第3期26卷 1293-1308页

作者： Zhang, Xinxin Ding, Huafeng Li, Min Li, Junxiang Wuhan Text Univ Sch Mech Engn & Automat Wuhan Peoples R China Wuhan Text Univ Hubei Key Lab Digital Text Equipment Wuhan Peoples R China China Univ Geosci Sch Mech Engn & Elect Informat Wuhan Peoples R China

This paper investigates variable-gain PD-type iterative learning control (ILC) for a class of nonlinear time-varying systems to well balance high-gain convergence rate and low-gain noise transmission. Different from the classic PD-type ILC, the control gains of the proposed method are variable. Each variable-gain consists of an amplitude-dependent term and an iteration-varying term. The amplitude-dependent terms vary with the amplitudes of tracking error and derivative of tracking error, and the iteration-varying terms are increasing along the iteration axis. The proposed ILC achieves a faster convergence rate than low-gain ILC and higher tracking accuracy with limited noise amplification than high-gain ILC. Moreover, the convergence condition of the proposed method in the presence of external noise is provided. Simulation and experimental results demonstrate the effectiveness of the proposed method.

关键词： iterative learning control (ILC) nonlinear time-varying system robotic manipulator variable-gain

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Investigation of consensus for nonlinear time-varying multiagent systems via data-driven techniques

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INFORMATION SCIENCES 2025年 708卷

作者： Liu, Yuanshan Xia, Yude Nanjing Agr Univ Coll Engn 666 Binjiang Ave Nanjing 210031 Jiangsu Peoples R China

This paper employs data-driven techniques to investigate the robustness control of leader- follower consensus in nonlinear discrete-time time-varying multiagent systems with fixed topology. Initially, pertinent symbolic definitions for sampled data are established, followed by an introduction to graph theory and system models. As data-driven algorithms necessitate linear systems, each nonlinear subsystem is linearized. Subsequently, distributed controllers are designed based on control principles to ensure multi-agent consensus. Additionally, the controller gain matrix is derived via a data-driven method, with its feasibility theoretically verified by solving nonlinear matrix inequalities. Finally, numerical simulations validate the efficacy of this approach for achieving robust leader-follower consensus control.

关键词： Data-driven control nonlinear time-varying system Multiagent systems Leader-follower consensus Robust control

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Asymptotic stability for nonlinear time-varying systems on time scales

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JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS 2023年第2期524卷

作者： Sun, Jian-Ping Qiang, Cheng-Xiu Zhao, Ya-Hong Lanzhou Univ Technol Coll Elect & Informat Engn Lanzhou 730050 Peoples R China Lanzhou Univ Technol Dept Appl Math Lanzhou 730050 Peoples R China

This paper is concerned with nonlinear time-varying systems on time scales, which can cover not only trivial continuous and discrete dynamical systems, but also some other nontrivial cases. Some less conservative sufficient conditions for asymptotic stability of nonlinear systems are derived. Compared with the traditional stability results, the negative definiteness of the time derivatives of Lyapunov functions is weakened, that is, the time derivatives of related Lyapunov functions in this paper are allowed to be indefinite. Two examples about trivial and nontrivial systems are included to illustrate the effectiveness of the results obtained.(c) 2023 Elsevier Inc. All rights reserved.

关键词： time scale nonlinear time-varying system Asymptotic stability Lyapunov function

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