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

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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Safety-Based Dynamic output Feedback Tracking Control of Time-Varying input-output Linearizable Systems With output Constraints

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2024年第1期71卷 365-369页

作者： Wang, Haijing Peng, Jinzhu Zhang, Fangfang Wang, Yaonan Zhengzhou Univ Sch Elect & Informat Engn Zhengzhou 450001 Henan Peoples R China Hunan Univ Natl Engn Lab Robot Visual Percept & Control Changsha 410082 Hunan Peoples R China Hunan Univ Coll Elect & Informat Engn Changsha Hunan Peoples R China

This brief concerns with the tracking control problem for time-varying input-output linearizable systems with output constraints under only measurable output signals. To prevent constraint violation, a high-order control barrier function (HoCBF) is introduced. Furthermore, a continuously differentiable auxiliary reference signal function is constructed to reduce the chattering at the safe boundaries and avoid the constraint violation at the switching time when the constraints become active or inactive. Based on that, blending a time-varying coordinate transformation and the HoCBF conditions, a safety-based dynamic output feedback tracking control method is proposed in an explicit form such that the output is driven to track the reference signal to a small neighborhood and ensured within the constrained region simultaneously. Consequently, it is unnecessary to solve the quadratic program (QP) problem online, which avoids the undesirable infeasibility problem, and facilitates the stability analysis in a closed form by the proposed controller. The effectiveness of the proposed control approach is illustrated by a numerical example.

关键词： Time-varying systems output feedback Safety Observers Control design Switches Robots output constraints input-output linearization dynamic output feedback control high-order control barrier functions

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Scalable Slip Control With Torque Vectoring Including input-to-State Stability Analysis

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2023年第3期31卷 1250-1265页

作者： Degel, Wolfgang Lupberger, Stefan Odenthal, Dirk Bajcinca, Naim Univ Kaiserslautern Dept Mech & Proc Engn D-67663 Kaiserslautern Germany BMW M GmbH Dept Elect D-85748 Garching Germany

Electric motors offer new opportunities and challenges for wheel slip control and improve performance during accelerating, braking, and dynamic cornering. This work proposes a robust slip control system for electric vehicles. The system is suitable for a driven axle with two electric motors or a single electric motor and an electronically controlled differential. The torque is controlled individually for each wheel, enabling lateral torque distribution. The control design considers the torsional dynamics of the drive shafts and is performed via input-output linearization. The internal dynamics and the overall closed-loop system are analyzed regarding input-to-state stability. The approach is implemented on a prototype vehicle with two electric motors on the rear axle. The control performance is experimentally analyzed for accelerating on a road with different road surfaces on the left-and right-hand sides. The results show good tracking behavior, oscillation damping, disturbance attenuation, and robustness for various setpoints. The presented slip controller can be combined with high-level control systems to further shape the driving behavior.

关键词： Wheels Torque Electric motors Mechanical power transmission Vehicle dynamics Control systems Behavioral sciences Electric vehicles input-output linearization input-to-state stability (ISS) slip control torque vectoring

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output tracking control of inverted cart-pendulum using input-output linearization and predictive contol

Output tracking control of inverted cart-pendulum using inpu...

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14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

作者： Charfeddine, Monia Jouili, Khalil Benhadj Braiek, Naceur Polytech Sch Tunisia EPT Lab Adv Syst BP 743 Marsa 2078 Tunisia

ISBN: (纸本)9781479929542

The inverted cart-pendulum provides interesting examples of nonlinear non-minimum phase systems. In this paper, as a matter of fact, a new approach to the output control for the inverted cart-pendulum is introduced. First, the inverted cart pendulum model is approximated by another singular perturbed system: the boundary-layer subsystem and the reduced subsystem. For the boundary-layer subsystem, the input output linearization is used. But the reduced subsystem is stabilized by the predictive control. After all, the simulation results are presented to demonstrate the efficiency of the proposed approach.

关键词： nonlinear non minimum phase system input-output linearization predictive control singular perturbed system

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Robust tracking control of LCL-type inverter based on fixed-time extended observer method 6

Robust tracking control of LCL-type inverter based on fixed-...

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IEEE 6th International Conference on Industrial Cyber-Physical Systems (ICPS)

作者： Ma, Mengling Zhang, Ancai Zhu, Fengzeng Zhang, Haonan Linyi Univ Sch Automat & Elect Engn Linyi Peoples R China

ISBN: (纸本)9798350311259

Single-phase LCL-type inverter has been widely used in the process of grid connection of photovoltaic system. This paper studies the output tracking control problem for this kind of inverter system with unknown external disturbance. First, the mathematical model of the inverter system is established using Kirchhoff's voltage/current law. And an extended system is constructed based on the inverter model and disturbance. And then, an observer is designed to estimate unknown state variables and external disturbance in a fixed time. After that, an input-output linearization method and the observer variables are used to design a robust tracking controller, which ensures the output of inverter system to accurately track a desired trajectory. Finally, numerical examples demonstrate the validity of the presented theoretical results.

关键词： LCL-type inverter Kirchhoff's voltage/current law tracking control fixed-time observer input-output linearization

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Adaptive neural network control of nonlinear systems with unknown dynamics

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ADVANCES IN SPACE RESEARCH 2021年第3期67卷 1114-1123页

作者： Cheng, Lin Wang, Zhenbo Jiang, Fanghua Li, Junfeng Beihang Univ Sch Astronaut Beijing Peoples R China Univ Tennessee Dept Mech Aerosp & Biomed Engn Knoxville TN 37996 USA Tsinghua Univ Sch Aerosp Engn Beijing Peoples R China

In this study, an adaptive neural network control approach is proposed to achieve accurate and robust control of nonlinear systems with unknown dynamics, wherein the neural network is innovatively used to learn the inverse problem of system dynamics with guaranteed convergence. This study focuses on the following three contributions. First, the considered system is transformed into a multi-integrator system using an input-output linearization technique, and an extended state observation technique is used to identify the transformed states. Second, an iterative control learning algorithm is proposed to achieve the neural network training, and stability analysis is given to prove that the network's predictions converge to ideal control inputs with guaranteed convergence. Third, an adaptive neural network controller is developed by combining the trained network and a proportional-integral controller, and the long-standing challenge of model-based methods for control determination of unknown dynamics is resolved. Simulation results of a virtual control mission and an aerospace altitude tracking mission are provided to substantiate the effectiveness of the proposed techniques and illustrate the adaptability and robustness of the proposed controller. (C) 2020 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Unknown dynamics input-output linearization Extended state observation Iterative control learning Adaptive network 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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Nonlinear Control of Induction Motor： A Combination of Nonlinear Observer Design and input-output linearization Technique

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Journal of Energy and Power Engineering 2013年第5期7卷 1001-1008页

作者： Farid Berrezzek Wafa Bourbia Bachir Bensaker Departement Genie Electrique Universite Med Cherif Messadia Souk Ahras 41000 Algerie Departement d'Electrotechnique Universite Badji Mokhtar Annaba Annaba 2300 Algerie Laboratoire d'Electromecanique Universite Badji Mokhtar Annaba Annaba 2300 Algerie

This paper deals with a nonlinear control strategy of induction motor that combines an input-output linearization control technique and a nonlinear observer design. It is well known that induction motors are the most widely used motors in electrical appliances, industrial control and automation. However, it is also known that induction motor control is a complex task that is due to its nonlinear characteristics. Two main features of the proposed approach are worth to be mentioned. Firstly, a nonlinear control is carried out using a nonlinear feedback linearization technique involving non available state variable measurements of the induction motor system. Secondly, a nonlinear observer is designed to estimate these pertinent but unmeasurable state variables of the machine. The circle-criterion approach is performed to compute the observer gain matrices as a solution of LMI （linear matrix inequalities） that ensure the stability conditions, in the sense of Lyapunov, of the estimated state error dynamics of the designed observer. Simulation results are presented to validate the effectiveness of the proposed approach.

关键词： Induction motor nonlinear control input-output linearization nonlinear observer circle criterion Lyapunov stability.

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Power Management Control Strategy for a Photovoltaic Micro-Inverter with Embedded Hybrid Energy Storage System

Power Management Control Strategy for a Photovoltaic Micro-I...

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IEEE IFAC International Conference on Automation (ICA) / 24th Congress of the Chilean-Association-of-Automatic-Control (ACCA)

作者： Munoz, Javier Venegas, Luis Tapia, Oscar Rivera, Marco Rohten, Jaime Univ Talca Fac Ingn Curico Chile Univ Bio Bio Fac Ingn Concepcion Chile

ISBN: (纸本)9781665401272

A power management control strategy for a photovoltaic micro-inverter with embedded hybrid energy storage system is proposed. The analyses are focused on the performance of the control scheme for feeding a local load. Three levels of control are proposed. Primary control is directly applied to power converters to manage the energy flow based on the reference current tracking. The secondary control oversees regulating the DC Bus voltage by means of the power balance, which ensures that the load power is equal to the power in the DC Bus. The tertiary control is in charge of the system dynamics, that is, it is responsible for responding adequately to sudden changes, in this case, when the load power increase. The primary control includes an input-output linearization control, allowing the use of linear controllers that are not limited to an operating point. A Maximum Power Point Tracking algorithm based on the incremental conductance is implemented on the photovoltaic panel. A suitable control scheme for the hybrid energy storage system is proposed to tracking both, DC link voltaje and AC output voltaje-current, alowing to stabilize the system to sudden changes. Simulated results are presented to validate the properness of the proposed control strategy.

关键词： Hybrid energy storage system input-output linearization micro-Inverter maximum power point tracking

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A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 39-47页

作者： Keyvan Majd Mohammad Razeghi-Jahromi Abdollah Homaifar School of Computing Informaticsand Decision Systems EngineeringArizona State UniversityTempeAZ 85281 USA ABB Corporate Research Center RaleighNC 27606 USA Department of Electrical and Computer Engineering North Carolina A&T State UniversityGreensboroNC 27403 USA

In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario.

关键词： Global asymptotic stability input-output linearization optimal control trajectory tracking

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