Achieving an optimal balance among safety, performance and robustness is crucial for effective control of real-world systems. This paper presents output feedback controllers that leverage the continuoustwisting algor...
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ISBN:
(纸本)9798350387780;9798350387797
Achieving an optimal balance among safety, performance and robustness is crucial for effective control of real-world systems. This paper presents output feedback controllers that leverage the continuous twisting algorithm (CTA), augmented with state observers employing second-order robust exact differentiators (RED) to yield output feedback (CTA-2RED). A safety-critical control framework is formulated utilizing control barrier functions (CBF) to safeguard the system states. The proposed controllers are manipulated via quadratic programming optimization. By filtering the control output of CTA-2RED via CBF, the system attains high performance while providing rigorous safety guarantees. The effectiveness of the proposed approach in ensuring both safety and performance is demonstrated through its application to a vehicle tracking problem in platoons of intelligent connected vehicles. Simulation results indicate that the CTA-2RED controller proficiently mitigates unmodeled disturbances within the vehicle's actuation system, while the CBFs provide robust safety assurances for the vehicle.
This paper proposes a novel composite position controller for the field-oriented control (FOC) strategy of permanent-magnet synchronous motor (PMSM) servo systems. The proposed composite position controller integrates...
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This paper proposes a novel composite position controller for the field-oriented control (FOC) strategy of permanent-magnet synchronous motor (PMSM) servo systems. The proposed composite position controller integrates a position controller with a disturbance observer, with each designed based on a specific second-order sliding-mode algorithm. Specifically, the continuous twisting algorithm (CTA) is employed to develop the position controller for achieving rotor position tracking, while the modified super-twistingalgorithm (STA) is used to construct the disturbance observer for compensating the total disturbance in the rotor position tracking error dynamics to enhance the dynamic performance. Comparative simulation tests, conducted within an FOC strategy of PMSM servo systems, contrast the performance of the CTA-based position controller, the composite position controller using a CTA-based position controller and a standard STA-based disturbance observer, and the proposed composite position controller. The simulation results validate the proposed position controller's effectiveness and its superiority over comparable position controllers.
An improved continuous sliding mode control algorithm is proposed for a flexible air-breathing hypersonic vehicle (FAHV), including nonsingular fast fixed-time sliding surface (NFFS) and dual-layer adaptive continuous...
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An improved continuous sliding mode control algorithm is proposed for a flexible air-breathing hypersonic vehicle (FAHV), including nonsingular fast fixed-time sliding surface (NFFS) and dual-layer adaptive continuoustwisting reaching law (DACTL). Firstly, the nonlinear control-oriented model of FAHV is processed using input/output feedback linearization method with the significant flexible effects modeling as unknown matched disturbances. Secondly, a novel NFFS is improved from conventional fixed-time sliding surface by adjusting power exponent to accelerate convergence rate. In the meanwhile, in order to avoid singularity aroused by fractional power term, an exponential convergent sliding surface is switched when tracking error approaches zero. Thirdly, a DACTL is proposed to realize finite-time convergence of sliding mode variable with higher convergence precision and less chattering. Dual-layer adaptive law is utilized to adjust the gain in DACTL based on equivalent control concept so as to enhance robustness automatically and avoid overestimation of control gain. Meanwhile, disturbances can be compensated without knowledge of Lipschitz constants. Ultimately, simulations on longitudinal control of FAHV demonstrate the control algorithm proposed is superior to conventional quasi-continuous sliding mode controller in the aspect of convergence accuracy and chattering suppression.
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