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ADAPTIVE ROBUST TRACKING OF NONLINEAR-SYSTEMS AND WITH AN APPLICATION TO A ROBOTIC MANIPULATOR

SYSTEMS & CONTROL LETTERS 1990年第4期15卷 339-348页

作者： LIAO, TL FU, LC HSU, CF NATL TAIWAN UNIV DEPT ELECT ENGNTAIPEITAIWAN

The adaptive robust output tracking for a class of nonlinear systems is considered. Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed loop system asymptotically track the given output trajectories despite the uncertainties, and the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with unknown payload.

关键词： Adaptive robust control variable structure control input-output linearization

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Simulated nonlinear control studies of five-effect evaporator models

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COMPUTERS & CHEMICAL ENGINEERING 2000年第11-12期23卷 1795-1810页

作者： Kam, KM Tadé, MO Curtin Univ Technol Sch Chem Engn Perth WA 6845 Australia

This paper is devoted to the simulated nonlinear control studies of two dynamic models of an industrial five-effect evaporator of an alumina refinery. The simulated control studies were carried out to ascertain the performance and robustness of nonlinear control techniques on the five-effect evaporator prior to its implementation on-site. The nonlinear control structure used in the studies was the multi-input multi-output (MIMO) globally linearizing control (GLC) structure of Kravaris and Soroush (1990). The I/O linearizing controller was implemented in a cascade arrangement with the industrial coded velocity form of proportional-integral (PI) controllers in the simulation. The design parameters were chosen such that the desired decoupling control of the ill-conditioned evaporator models was achieved, and such that cascade arrangement of the nonlinear controller was possible. Simulated results indicates that the MIMO GLC structure provides superior servo and regulatory control to multi-loop single-input single-output (SISO) PI controllers that are currently being used to regulate the five-effect evaporator on-site. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： nonlinear control input-output linearization evaporator models nonlinear controller implementation simulated control studies

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Experimental evaluation of an augmented IMC for nonlinear systems

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CONTROL ENGINEERING PRACTICE 2000年第10期8卷 1167-1176页

作者： Hu, Q Saha, P Rangaiah, GP Natl Univ Singapore Dept Chem & Environm Engn Singapore 119260 Singapore

Performance of internal model control (IMC), which is affected by the inevitable errors in the model used, can be improved by augmented IMC (AuIMC) having an additional feedback of process/model mismatch through a suitable gain. This paper presents a detailed study on real-time control of an open-loop stable single-input-single-output (SISO) nonlinear system by AuIMC. The AuIMC structure is first analyzed theoretically to show its robustness and performance characteristics, followed by its experimental evaluation on pH control of a neutralization process. The experimental results show that significantly improved control is obtained by the AuIMC compared to the standard IMC. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： nonlinear systems internal model control input-output linearization augmented internal model control neutralization process pH control

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Research on the coordinated control of oxygen excess ratio and air pressure for PEMFC 's air supply system

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2024年 69卷 122-133页

作者： Wei, Li Zhu, Xiance Wang, Xianghe Hu, Zhouzhen Wang, Mingqing Tongji Univ Coll Elect & Informat Engn Shanghai 201804 Peoples R China China FAW Grp Co Elect Dev Dept Changchun 13001 Peoples R China

The proton exchange membrane fuel cell (PEMFC) air supply system is a complex nonlinear system with strong coupling of air flow and pressure. To avoid oxygen starvation and unstable output performance during rapid load changes, the oxygen excess ratio (OER) and air pressure need to be controlled effectively. To cope with the nonlinearity, coupling and uncertainty of the PEMFC air system, this paper puts forward a coordinated controller regulating OER and air pressure based on the input-output linearization and sliding mode methods. Firstly, a control -oriented third -order model is proposed to describe the dynamic behavior of the air supply system. Secondly, this paper decouples the flow and pressure of the PEMFC air system by using an input-output linearization method to obtain two independent linear subsystems. Moreover, a sliding mode method, effectively coping with the uncertainty of the system model, is designed to regulate the OER and air pressure of the PEMFC, which enhances the robustness of the control system. The overall simulation outcomes show that the proposed controller regulates OER and cathode pressure with smaller root mean square error (RMSE) and mean absolute percentage error (MAPE) compared with the combined proportional integral (PI) and feedforward controller.

关键词： PEMFC Oxygen excess ratio (OER) Air pressure Coordinated control input-output linearization Sliding mode

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Time delay compensation for a class of nonlinear systems

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JOURNAL OF THE CHINESE INSTITUTE OF CHEMICAL ENGINEERS 1998年第6期29卷 437-444页

作者： Chou, YS Tsai, SL Natl Taiwan Univ Sci & Technol Dept Chem Engn Taipei 106 Taiwan

In this paper we propose a robust control design method for a class of nonlinear systems with a time delay in the manipulated input. The time delay compensation strategy based on the Smith-like predictor (SLP) and the parameter diffeomorphism is used as a technique to robustify the cancellation of disturbances and mismatches between the real deadtime and the estimated deadtime. In particular, the proposed control law with the approach of parameter diffeomorphism provides techniques far on-line adjustment of controller parameter to achieve or maintain a desired level of system performance when the disturbances are unknown or variable. The design method is applied to a continuous stirred tank reactor (CSTR) system. Computer simulation shows results with satisfactory performance.

关键词： time-delay system nonlinear control input-output linearization

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Non-linear robust control designs for a remotely operated underwater vehicle depth control system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 1996年第3期210卷 201-214页

作者： TrebiOllennu, A White, BA Royal Military College of Science School of Electrical Engineering and Science Cranfield University Swindon Wiltshire

This paper describes the heave and pitch control of a non-linear longitudinal model of a remotely operated vehicle (ROV) using three robust non-linear control techniques. The techniques are based on input-output (I/O) linearization, comprising basic I/O linearization control, I/O linearization with sliding mode control and I/O linearization with adaptive fuzzy systems. Robustness of the designs is investigated by examining the closed-loop zero dynamics, which are shown to be bounded. The robustness of each control scheme is also investigated by varying the ROY hydrodynamic coefficients by 50 per cent. Simulation results are presented to compare the control schemes.

关键词： marine systems multi-variable control non-linear robust control fuzzy control input-output linearization sliding mode control

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input-output linearized spacecraft formation control via differential drag using relative orbital elements

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ADVANCES IN SPACE RESEARCH 2021年第11期67卷 3444-3461页

作者： Ben-Larbi, Mohamed Khalil Jusko, Tim Stoll, Enrico Tech Univ Carolo Wilhelmina Braunschweig Inst Space Syst Hermann Blenk Str 23 D-38108 Braunschweig Germany

The derivation, implementation, and performance assessment of a differential drag based algorithm, designed for spacecraft formation control using a relative orbital elements formulation, is presented. In contrast to similar approaches found in literature, the underlying motion dynamics model used to derive the control law includes J2 perturbation as well as atmospheric drag perturbation based on a nonlinear density model. The basic idea of the control algorithm is to algebraically transform the nonlinear plant into a linear substitute. The resulting control law can be interpreted as combined feedforward and feedback PID control, applied to the linear substitute model. Motion dynamics and perturbations are accounted for in a feedforward branch while a PID feedback branch undertakes the cancellation of errors caused by model uncertainties and unmodeled physics. For linearized plant models, the computation of a feedforward branch is straight forward from the state transition matrix. In the nonlinear case proposed in this paper, the inclusion of a feedforward signal is achieved using the input-output linearization technique, yielding a nonlinear and globally valid control law. Sample numerical simulations are presented to support the validity of the controller and to demonstrate its performance compared to a simple PID controller. Simulation results show enhanced tracking performance of the mean along-track separation reference signal and reduced control effort. Moreover, input-output linearization enables the control of a large set of operating points using one set of control parameters. (C) 2020 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Differential drag control input-output linearization Feedforward differential drag control Relative orbital elements Formation flight Active debris removal

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A nonlinear speed control for a PM synchronous motor using a simple disturbance estimation technique

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2002年第3期49卷 524-535页

作者： Kim, KH Youn, MJ Korea Adv Inst Sci & Technol Dept Elect Engn & Comp Sci Taejon 305701 South Korea

A nonlinear speed control for a permanent-magnet (PM) synchronous motor using a simple disturbance estimation technique is presented. By using a feedback linearization scheme, the nonlinear motor model can be linearized in the Brunovski canonical form, and the speed controller can be easily designed based on the linearized model. This technique, however, gives an undesirable output performance under the mismatch of the system parameters and load conditions. Recently, an adaptive linearization technique and a sliding-mode control technique have been reported. Although good performance can be obtained, the controller designs are quite complex. To overcome this drawback, the controller parameters will be estimated by using a disturbance observer theory where the disturbance torque and flux linkage are estimated. Since only the two reduced-order observers are used for the parameter estimation, the observer designs are considerably simple and the computational load of the controller for parameter estimation is negligibly small. The nonlinear disturbances caused by the incomplete linearization can be effectively compensated by using this control scheme. Thus, a desired dynamic performance and a zero steady-state error can be obtained. The proposed control scheme is implemented on a PM synchronous motor using a,digital signal processor (TMS320C31) and the effectiveness is verified through the comparative simulations and experiments.

关键词： flux and torque estimations input-output linearization nonlinear speed control permanent-magnet synchronous motor two simple disturbance observers

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input-output Linearizing Control of the Underactuated Hovercraft Using the Derivative-Free Nonlinear Kalman Filter

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UNMANNED SYSTEMS 2015年第2期3卷 127-142页

作者： Rigatos, Gerasimos G. Raffo, Guilherme V. Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Fed Minas Gerais Dept Elect Engn BR-31270901 Belo Horizonte MG Brazil

The paper proposes a nonlinear control approach for the underactuated hovercraft model based on differential flatness theory and uses a new nonlinear state vector and disturbances estimation method under the name of derivative-free nonlinear Kalman filter. It is proven that the nonlinear model of the hovercraft is a differentially flat one. It is shown that this model cannot be subjected to static feedback linearization, however it admits dynamic feedback linearization which means that the system's state vector is extended by including as additional state variables the control inputs and their derivatives. Next, using the differential flatness properties it is also proven that this model can be subjected to input-output linearization and can be transformed to an equivalent canonical (Brunovsky) form. Based on this latter description the design of a state feedback controller is carried out enabling accurate maneuvering and trajectory tracking. Additional problems that are solved in the design of this feedback control scheme are the estimation of the nonmeasurable state variables in the hovercraft's model and the compensation of modeling uncertainties and external perturbations affecting the vessel. To this end, the application of the derivative-free nonlinear Kalman filter is proposed. This nonlinear filter consists of the Kalman Filter's recursion on the linearized equivalent model of the vessel and of an inverse nonlinear transformation based on the differential flatness features of the system which enables to compute estimates for the state variables of the initial nonlinear model. The redesign of the filter as a disturbance observer makes possible the estimation and compensation of additive perturbation terms affecting the hovercraft's model. The efficiency of the proposed nonlinear control and state estimation scheme is confirmed through simulation experiments.

关键词： Underactuated hovercraft dynamic model nonlinear feedback control differential flatness theory input-output linearization derivative-free nonlinear Kalman filter disturbances estimation trajectory tracking

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Finding maximum linear subsystems of nonlinear systems with outputs

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2000年第9期45卷 1701-1704页

作者： Xu, Z Hunt, LR Nortel Networks Richardson TX 75082 USA Univ Texas Richardson TX 75083 USA

The focus of this paper is to find the maximum input-output linearized subsystem. Necessary and sufficient conditions are presented under which there exist a static state feedback and a coordinate change to input-output linearize the system so that the linear subsystem has the largest dimension. A systematic method is also developed to compute the desired feedback and coordinate change.

关键词： input-output linearization nonlinear systems

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