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A novel adaptive interval type-3 neuro-fuzzy robust controller for nonlinear complex dynamical systems with inherent uncertainties

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NONLINEAR DYNAMICS 2023年第1期111卷 411-425页

作者： Taghieh, Amin Mohammadzadeh, Ardashir Zhang, Chunwei Rathinasamy, Sakthivel Bekiros, Stelios Shenyang Univ Technol Multidisciplinary Ctr Infrastruct Engn Shenyang 110870 Peoples R China Bharathiar Univ Dept Appl Math Coimbatore 641046 Tamil Nadu India Univ Malta FEMA & DLT Ctr Msida 2080 Msd Malta London Sch Econ LSE LSE Hlth Ctr London WC2A 2AE England

A novel observer-based control policy based on an interval type-3 fuzzy logic system is developed to tackle the main limitations of fuzzy-based controllers in sense of approximation of uncertainties and analyzing nonlinear complex systems without detailed dynamics model information. For this purpose, a novel scheme is proposed that includes online optimized tuning rules, a simple type reduction method, and adaptive mechanisms. Also, an adaptive compensator is implemented to enhance the robust performance of the closed-loop system and reduce the effect of approximation errors. For the stability analysis, appropriate Lyapunov functions and Barbalat's lemma are employed. By both simulations and experimentally implementation, it is shown that the suggested approach results in a more accurate approximation of unknown models and complicated nonlinearities, and good resistance against uncertainties and parameter variations.

关键词： Interval type-3 fuzzy logic system Learning-based approach observer-based controller Adaptive compensator Unknown dynamics and uncertainties Unknown exogenous disturbances Robust stabilization

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An Innovative Adaptive Cruise Control Method based on Mixed H2/H∞ Out-of-Sequence Measurement observer

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2022年第6期23卷 5602-5614页

作者： Liu, Cong-Zhi Li, Liang Chen, Xiang Yong, Jia-Wang Cheng, Shuo Dong, Hong-Lei Tsinghua Univ State Key Lab Automot Safety & Energy Beijing 100084 Peoples R China Beijing Univ Technol Coll Metropolitan Transportat Beijing 100124 Peoples R China SAMR Detect Prod Adm Ctr Beijing 100101 Peoples R China

Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed H-2/H-infinity observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed H-2/H-infinity method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of H-2/H-infinity guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. based on H-infinity theory, the design criterion of the proposed mixed H-2/H-infinity observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.

关键词： Mixed H-2/H-infinity theory delayed measurements multiplicative noise observer-based controller linear matrix inequality advanced driver assistant system

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Design of permanent-magnet eddy-current coupler speed control system based on fully-actuated system model 2

Design of permanent-magnet eddy-current coupler speed contro...

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2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

作者： Sun, Lisong Wang, Dazhi Ni, Yongliang Song, Keling Qi, Yufei Li, Yanming Northeastern Univ Sch Informat Sci & Engn Shenyang 110819 Peoples R China China North Vehicle Res Inst Beijing 100072 Peoples R China

ISBN: (纸本)9798350332162

This note investigates the control design problem of a permanent-magnet eddy-current coupler (PEC) speed control system. To address this, the PEC speed control system is modeled as a fully-actuated system through electrical and kinematic equations. Considering the situation that the system state quantities are not directly accessible, an observer-based controller is developed using the separate design of the observer and state feedback. Meanwhile, a parametric method is adopted to calculate the gain matrix that allows the closed-loop control system to ensure stability while converging at a desired speed. Finally, the obtained results are effectively applied in a PEC speed control system example.

关键词： observer-based controller Permanent-magnet eddy-current coupler speed control Fully-actuated system

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State observer-based model reference adaptive balance control for one-leg stance

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INTERNATIONAL JOURNAL OF INTELLIGENT UNMANNED SYSTEMS 2023年第3期11卷 341-358页

作者： Tri Duc Tran Van Tu Duong Hung Huy Nguyen Tan Tien Nguyen Ho Chi Minh City Univ Technol HCMUT Natl Key Lab Digital Control & Syst Engn DCSELab Ho Chi Minh City Vietnam Ho Chi Minh City Univ Technol HCMUT Fac Mech Engn Ho Chi Minh City Vietnam Vietnam Natl Univ Ho Chi Minh City Ho Chi Minh City Vietnam Sai Gon Univ Fac Elect & Telecommun Ho Chi Minh City Vietnam

Purpose Humanoid robots have been utilized in many fields such as medical, construction, and disaster response. While humanoid robots nowadays can achieve great capabilities, the one-leg balancing task still poses a challenging problem. This paper aims to propose a novel approach to solve the problem. Design/methodology/approach To aid the balance of one leg in humanoid robot, an external balance mechanism is inserted to the back of the humanoid robot. First, a dynamic model of the humanoid robot with balance mechanism and its simplified model are introduced. Second, a backstepping-based control method is utilized to build the proposed controller for one-leg stance system through two steps. For the first step, a minimum observer-based controller with a virtual control input is used to control the first sub-system reaching the desired reference input. For the second step, a virtual control input is considered as a reference input of a second sub-system, then a model reference adaptive controller (MRAC) is employed to control the second sub-system reaching the virtual control input in presence of uncertainties. By using the external balance mechanism, the sideway balancing task is separated from normal walking function. Furthermore, the utilization of the balance mechanism ensures the humanoid robot's hip adduction does not exceed the threshold of a human when walking. Finally, a simulation study is carried out to evaluate the effectiveness of the proposed method. Findings This paper proposes a model reference adaptive control using state observer for balancing one leg of humanoid robot in stance phase that extends our previous research (Tran et al., 2021). Originality/value The main research contents have been introduced.

关键词： Humanoid robot Adaptive controller Sideway balancing observer-based controller One-leg stance

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observer-based Output Feedback Tracking Control for Flexible Joint Space Manipulator with Output Constraints

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JOURNAL OF AEROSPACE ENGINEERING 2024年第1期37卷 04023100-04023100页

作者： Liu, Li Yue, Xiaokui Wen, Haowei Hao, Zhiwei Zhu, Yuan Northwestern Polytech Univ Sch Astronaut 127 Youyi West Rd Xian 710072 Peoples R China Beihang Univ Sch Astronaut 37 Xueyuan Rd Beijing 100191 Peoples R China

This paper proposed an observer-based output feedback tracking controller with output constraints for the rigid-link flexible-joint space manipulator system considering the dynamic damping caused by the torque change. By combining the Barrier Lyapunov function, backstepping, coordinate transformation, dynamic scaling, and globally exponentially convergent velocity observer, the proposed scheme maintains the simplicity of independent design of observer and controller, where the observation gains and control gains can be designed separately.

关键词： Flexible joint Barrier Lyapunov function Output constraints Velocity observer observer-based controller

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Disturbance rejections of polynomial fuzzy systems under

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FUZZY SETS AND SYSTEMS 2024年 488卷

作者： Selvaraj, P. Kwon, O. M. Lee, S. H. Sakthivel, R. Chungbuk Natl Univ Sch Elect Engn Cheongju 28644 South Korea Natl Korea Maritime & Ocean Univ Div Elect & Elect Informat Engn Busan 49112 South Korea Bharathiar Univ Dept Appl Math Coimbatore 641046 India Sungkyunkwan Univ Dept Math Suwon 440746 South Korea

This paper proposes an integrated robust stabilization and anti -disturbance control scheme for nonlinear systems using a polynomial fuzzy model approach. To estimate unknown disturbances, an equivalent -input -disturbance (EID) estimator is employed. The proposed approach incorporates a novel fuzzy model assisted by EID estimator into the sum -of -squaresbased approach, utilizing a polynomial fuzzy model -based observer to estimate the disturbance effect. A suitable fuzzy rule -based control law is developed by utilizing the parallel distributed compensation approach and the output of the EID estimator. To ensure stability, fuzzy membership functions are converted into sum -of -square polynomials using a polynomial curve fitting approach, allowing their exact shape information to be used in the stability condition. The addressed system is transformed into an augmented system by incorporating the system, observer, and filter states, simplifying the analysis. Gain matrices for the controller and observer are obtained using Lyapunov stability theory and sum -of -squares methods to confirm asymptotic stabilization of the fuzzy system. Two numerical examples are presented to demonstrate the effectiveness of the proposed control design method.

关键词： Polynomial fuzzy systems observer-based controller Disturbance rejection EID estimator approach

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observer based Event-triggering Control of Unmanned Surface Vehicles under DoS Attacks 41

Observer Based Event-triggering Control of Unmanned Surface ...

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第41届中国控制会议

作者： Ping Yuan Jie Gao Ling Chen Electrical and energy engineering Nantong Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stability analysis and controller design of observer-based unmanned surface vehicle under denial-of-service(DoS) ***,in order to save communication resources and resist DoS attacks,an observerbased event-triggering mechanism is ***,a new observer-based switched system model is established by using the time-delay system *** on this model,the expressions of observer and controller gain matrix are given by using the piecewise Lyapunov-Krasovskii functional approach and linear matrix inequalities(LMI) technique to ensure a certain control ***,simulations on an unmanned surface vehicle are given to verify the effectiveness of the design method proposed in this paper.

关键词： Unmanned surface vehicle observer-based controller denial-of-service attacks

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observer-based robust model predictive control of switched nonlinear systems with time delay and parametric uncertainties

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JOURNAL OF VIBRATION AND CONTROL 2021年第17-18期27卷 1939-1955页

作者： Taghieh, Amin Shafiei, Mohammad Hossein Univ Tabriz Fac Elect & Comp Engn Tabriz Iran Shiraz Univ Technol Dept Elect & Elect Engn Modares Blvd Shiraz 715555313 Iran

In this study, an observer-based robust model predictive control scheme is proposed to control a class of switched nonlinear systems in the presence of time delay and parametric uncertainties under arbitrary switching. Constructing an appropriate Lyapunov-Krasovskii functional in conjunction with an infinite horizon cost function, sufficient conditions are obtained to guarantee the asymptotic stability of the closed-loop switched system in terms of linear matrix inequalities depending on the time delay, the upper bounds of uncertain parameters, and the Lipschitz constant of subsystems. To model the uncertainty of the system, the parametric uncertainty is used to reduce the computational burden and the conservatism of the method. In the proposed method, a predictive state observer and an observer-based controller are synthesized via an online optimization problem to minimize the upper bound of the cost function, while handling the constraints. Finally, the obtained results are validated using practical and numerical simulations.

关键词： Switched nonlinear systems observer-based controller robust model predictive control parametric uncertainties time delay

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observer-based adaptive control of robot manipulators using reinforcement learning and the Fourier series expansion

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2021年第10期43卷 2307-2320页

作者： Khodamipour, Gholamreza Khorashadizadeh, Saeed Farshad, Mohsen Univ Birjand Fac Elect & Comp Engn Birjand 97175615 Iran

Designing observer-controller structures for nonlinear system with unknown dynamics such as robotic systems is among popular research fields in control engineering. The novelty of this paper is in presenting an observer-based model-free controller for robot manipulators using reinforcement learning (RL). The proposed controller calculates the desired motor voltages that fulfil a satisfactory tracking performance. Moreover, the uncertainties and nonlinearities in the observer model and RL controller are estimated and compensated for by using the Fourier series expansion. Simulation results and comparison with the previous related works (extended state observer and radial basis function neural networks) indicate the satisfactory performance of the proposed method.

关键词： observer-based controller reinforcement learning model-free controller Fourier series expansion robot manipulator

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controller-based Periodic Disturbance Mitigation Techniques for Three-Phase Two-Level Voltage-Source Converters

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2021年第10期17卷 6553-6568页

作者： Song, Zhanfeng Zhang, Zhen Komurcugil, Hasan Lee, Christopher H. T. Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China Eastern Mediterranean Univ Comp Engn Dept TR-99628 Famagusta Turkey Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

In order to mitigate the periodic disturbances in voltage-source converter (VSC)-based applications, different techniques have been comprehensively investigated to mitigate these periodic disturbances, either using additional disturbance-mitigation controller or by means of modifying the modulation stage. As well as providing an in-depth analysis of various periodic disturbances in VSC-based applications, this article presents an overview of the controller-based periodic disturbance mitigation techniques. And these techniques, different in concept, can be categorized into two types, i.e., the internal-model-based methods and the feedforward-based methods. The controller prototypes and their variants are comprehensively introduced with motivations and distinct features. The characteristics of different strategies and the corresponding implementation methods are compared and summarized. And the practical issues such as computational burden and frequency adaptability are simultaneously included as well to present a comprehensive illustration. In addition, the characteristics of different strategies are compared and summarized with the aim of providing a clear illustration.

关键词： Torque Harmonic analysis Power conversion Converters Voltage measurement Current measurement Forging Feedforward controller iterative learning controller (ILC) observer-based controller periodic disturbance repetitive controller (RC) resonant controller (RSC) voltage-source converter (VSC)

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