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Global asymptotic regulation control for MIMO mechanical systems with unknown model parameters and disturbances

NONLINEAR DYNAMICS 2019年第3期95卷 2293-2305页

作者： Hu, Xin Wei, Xinjiang Zhang, Huifeng Han, Jian Liu, Xiuhua Ludong Univ Sch Math & Stat Sci Yantai 264025 Shandong Peoples R China Ludong Univ Sch Informat & Elect Engn Yantai 264025 Shandong Peoples R China

A global asymptotic regulation control scheme based on the adaptive disturbance estimation is proposed for the MIMO mechanical systems with unknown model parameters and disturbances. By transforming the motion model of the mechanical system and the disturbances into the parametric forms, respectively, the disturbance rejection control for the MIMO mechanical systems is converted into the adaptive control problem. The robust adaptive control law is then designed using the adaptive backstepping method. Stability analysis shows that the designed control law achieves the global asymptotic regulation of the output vector. Simulations on regulation control of two marine vessels verify the effectiveness of the proposed control scheme.

关键词： Mechanical systems unknown model parameters unknown disturbances Disturbance observer Adaptive backstepping method

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Adaptive Backstepping Control of a Pneumatic System With unknown model parameters and Control Direction

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IEEE ACCESS 2019年 7卷 64471-64482页

作者： Ren, Hai-Peng Wang, Xuan Fan, Jun-Tao Kaynak, Okyay Xian Univ Technol Shaanxi Key Lab Complex Syst Control & Intelligen Xian 710048 Shaanxi Peoples R China Bogazici Univ Dept Elect & Elect Engn TR-34342 Istanbul Turkey

The performance of the pneumatic elements and the micro-controller steadily increases as the price of them decreases. This trend promotes high performance tracking control research on pneumatic servo systems. However, it is very difficult to obtain exact model parameters, which is one of the main obstacles to design a high performance controller. Moreover, in some application cases, the control direction is undetermined because of the possible false or incorrect valve outlets connection. At the same time, the inaccuracy of the proportional valve zero points also degrades the tracking performance of pneumatic servo systems. In this paper, an adaptive backstepping control approach is proposed for a pneumatic position servo system considering unknown model parameters, unknown control direction, and inaccurate valve zero points. The proposed method combines the Nussbaum function and backstepping technique to design a position tracking controller of a pneumatic servo system with the aforementioned uncertainties. By using the Lyapunov method, the designed controller is proved to be stable, and the tracking error asymptotically converges to zero. The experimental results demonstrate the effectiveness and the superiority of the proposed approach as compared with some existing methods, even for negative direction case for which the other methods fail. The performance of the proposed controller is further improved by considering the proportional valve zero points.

关键词： Pneumatic system unknown model parameters inaccurate proportional valve zero point Nussbaum function unknown control direction

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Robust fault-tolerant saturated control for spacecraft proximity operations with actuator saturation and faults

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ADVANCES IN SPACE RESEARCH 2019年第5期63卷 1541-1553页

作者： Li, Qi Yuan, Jianping Sun, Chong Natl Key Lab Aerosp Flight Dynam Xian 710072 Shaanxi Peoples R China Northwestern Polytech Univ Sch Astronaut Xian 710072 Shaanxi Peoples R China

In this paper, the motion control problem of autonomous spacecraft rendezvous and docking with a tumbling target in the presence of unknown model parameters, external disturbances, actuator saturation and faults is investigated. Firstly, a nonlinear six degree-of-freedom dynamics model is established to describe the relative motion of the chaser spacecraft with respect to the tumbling target. Subsequently, a robust fault-tolerant saturated control strategy with no precise knowledge of model parameters and external disturbances is proposed by combining the sliding mode control technique with an adaptive methodology. Then, within the Lyapunov framework, it is proved that the designed robust fault-tolerant controller can guarantee the relative position and attitude errors converge into small regions containing the origin. Finally, numerical simulations are performed to demonstrate the effectiveness and robustness of the proposed control strategy. (C) 2018 COSPAR. Published by Elsevier Ltd. All rights reserved.

关键词： Autonomous rendezvous and docking Robust fault-tolerant control unknown model parameters Actuator saturation and faults

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Dynamic positioning of ships with unknown parameters and disturbances

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CONTROL ENGINEERING PRACTICE 2018年 76卷 22-30页

作者： Du, Jialu Hu, Xin Krstic, Miroslav Sun, Yuqing Dalian Maritime Univ Sch Informat Sci & Technol Dalian 116026 Liaoning Peoples R China Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA Dalian Maritime Univ Sch Marine Engn Dalian 116026 Liaoning Peoples R China

Robust adaptive control is proposed for the dynamic positioning (DP) of ships with unknown model parameters and unknown time-varying disturbances. Through representing the parameter uncertain ship motion mathematical model and the unknown time-varying disturbances as parametric forms, respectively, constructing an observer for handling disturbances, and using the adaptive vectorial backstepping, the DP robust adaptive control law is designed. The proposed DP control law achieves the global asymptotic regulation of positioning errors, while guaranteeing the global uniform ultimate boundedness of all signals in the DP closed-loop control system. Simulation results involving a supply vessel validate the proposed DP control law.

关键词： Dynamic positioning of ships unknown model parameters unknown time-varying disturbances Observer Vectorial backstepping Global asymptotic regulation

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Self-tuning Measurement Fusion Wiener Filter for Autoregressive Signals

Self-tuning Measurement Fusion Wiener Filter for Autoregress...

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22nd Chinese Control and Decision Conference

作者： Gao, Yuan Deng, Zili Heilongjiang Univ Dept Automat Harbin 150086 Peoples R China

ISBN: (纸本)9781424451821

For the autoregressive (AR) signals with multisensor, unknown model parameters and unknown noise variances, using the recursive extended least square (RELS) and the correlation method, the strong consistent information fusion estimators of model parameters and noise variances are presented, and then by substituting them into the optimal. weighted measurement fusion Wiener filter based on the autoregressive moving average (ARMA) innovation model, a self-tuning weighted measurement fusion Wiener signal filter is presented. Further, applying the dynamic error system analysis (DESA) method, it is proved that the self-tuning fused Wiener filter converges to the optimal fused Wiener filter in a realization, so that it has asymptotically global optimality. A simulation example shows its effectiveness.

关键词： Measurement Fusion Wiener signal filter unknown model parameters Strong Consistent Estimators Self-tuning Fuser Dynamic Error System Analysis (DESA) Method

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Data-Mining-Based Fuzzy Control Design for Marine Dynamic Positioning System of Ships 37

Data-Mining-Based Fuzzy Control Design for Marine Dynamic Po...

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37th Chinese Control Conference (CCC)

作者： Hu, Xin Du, Jialu Li, Jian Yang, Chuansheng Dalian Maritime Univ Sch Marine Elect Engn Dalian 116026 Peoples R China Zhejiang Ocean Univ Sch Math Phys & Informat Sci Zhoushan 316000 Peoples R China

ISBN: (纸本)9789881563958

Considering the dynamic positioning (DP) problem of a surface ship with unknown model dynamic parameters and unknown environmental disturbances, this paper develops a data -mining -based fuzzy control scheme. Under the certain operating and environmental conditions of a ship, the scientific and effective fuzzy rules for the DP of ships are extracted using the data -mining technique. Based on the extracted fuzzy rules, the DP fuzzy control law is designed. Finally, the simulation studies on a supply ship Northern Clipper are carried out to verify the effectiveness of the designed DP fuzzy control law.

关键词： Dynamic positioning of ships unknown model parameters unknown disturbances data-mining fuzzy control

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Adaptive RBF Neural Network Control Method for Pneumatic Position Servo System 21st

Adaptive RBF Neural Network Control Method for Pneumatic Pos...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Ren, Hai-Peng Jiao, Shan-Shan Wang, Xuan Li, Jie Xian Univ Technol Shaanxi Key Lab Complex Syst Control & Intelligen Xian Peoples R China Xian Univ Technol Sch Elect Engn Xian Peoples R China

With the development of control theory and the pneumatic element, the application of pneumatic systems has attracted more attention because of the performance to price ratio improvement. Despite of these, there are still challenge to deal with the nonlinearity of the system, the uncertainty of the parameters, the input saturation and the unknown control direction in the tracking control of pneumatic system. In this paper, the nonlinearity and model uncertainty are treated with adaptive radial basis function neural network (RBFNN), meanwhile, the unknown control direction and input saturation are dealt with the Nussbaum function and Gauss error function, respectively. The stability of the designed controller is proved by Lyapunov theory. Finally, the experimental and comparison results show the effectiveness and superiority of the proposed method. Copyright (C) 2020 The Authors.

关键词： Pneumatic system RBFNN unknown model parameters unknown control direction input saturation

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Adaptive RBF Neural Network Control Method for Pneumatic Position Servo System ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8826-8831页

作者： Hai-Peng Ren Shan-Shan Jiao Xuan Wang Jie Li Shaanxi Key Laboratory Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Electrical Engineering Xi’an University of Technology Xi’an China

关键词： Pneumatic system RBFNN unknown model parameters unknown control direction input saturation

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Data-Mining-Based Fuzzy Control Design for Marine Dynamic Positioning System of Ships

Data-Mining-Based Fuzzy Control Design for Marine Dynamic Po...

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第37届中国控制会议

作者： Xin Hu Jialu Du Jian Li Chuansheng Yang School of Marine Electrical Engineering Dalian Maritime University School of Mathematics Physicsand Information ScienceZhejiang Ocean University

Considering the dynamic positioning(DP) problem of a surface ship with unknown model dynamic parameters and unknown environmental disturbances,this paper develops a data-mining-based fuzzy control *** the certain operating and environmental conditions of a ship,the scientific and effective fuzzy rules for the DP of ships are extracted using the data-mining *** on the extracted fuzzy rules,the DP fuzzy control law is ***,the simulation studies on a supply ship Northern Clipper are carried out to verify the effectiveness of the designed DP fuzzy control law.

关键词： Dynamic positioning of ships unknown model parameters unknown disturbances data-mining fuzzy control

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Self-tuning Measurement Fusion Wiener Filter for Autoregressive Signals

Self-tuning Measurement Fusion Wiener Filter for Autoregress...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Yuan Gao Zili Deng Department of Automation Heilongjiang University Harbin 150086 China

ISBN: (纸本)9781424451814

For the autoregressive (AR) signals with multisensor, unknown model parameters and unknown noise variances, using the recursive extended least square (RELS) and the correlation method, the strong consistent information fusion estimators of model parameters and noise variances are presented, and then by substituting them into the optimal weighted measurement fusion Wiener filter based on the autoregressive moving average (ARMA) innovation model, a self-tuning weighted measurement fusion Wiener signal filter is presented. Further, applying the dynamic error system analysis (DESA) method, it is proved that the self-tuning fused Wiener filter converges to the optimal fused Wiener filter in a realization, so that it has asymptotically global optimality. A simulation example shows its effectiveness.

关键词： Measurement Fusion Wiener signal filter unknown model parameters Strong Consistent Estimators Self-tuning Fuser Dynamic Error System Analysis (DESA) Method

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