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Enhanced adaptive nonlinear extended state observer for pure feedback systems with matched and mismatched disturbances

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control Theory and Technology 2024年第2期22卷 254-268页

作者： Mahtab Delpasand Mohammad Farrokhi School of Electrical Engineering Iran University of Science and TechnologyTehran16846-13114Iran Center of Excellence for Modelling and Control of Complex Systems Iran University of Science and TechnologyTehran16846-13114Iran

In this paper, an enhanced adaptive nonlinear extended state observer (EANESO) for single-input single-output pure feedback systems in the presence of external time-varying disturbances is proposed. In this paper, a nonlinear system with matched and mismatched disturbances is considered. The conventional extended state observer (ESO) can only be applied to systems that are in the form of integral chains. Moreover, this method has limitations in the face of mismatched disturbances. In the presence of time-varying disturbances, the traditional ESOs cannot estimate the disturbances accurately. To overcome this limitation, an EANESO is proposed in this paper. The main idea is to design the nonlinear ESO (NESO) to estimate the states of the system and multiple disturbances simultaneously. The observer gains are considered time-varying and adjusted with adaptation laws to improve the estimation accuracy and overcome the peaking phenomenon. Next, the proposed controller is designed based on output feedback to eliminate the effects of multiple disturbances and stabilize the closed-loop system. Subsequently, the stability analysis of the closed-loop system and convergence of the observer error are discussed. Finally, the proposed method is applied to the inverted pendulum system. The simulated results show good performance of the proposed method as compared with a recently published scheme in the related literature.

关键词： Nonlinear extended state observer Enhanced adaptive extended state observer Adaptation law Multiple-channel disturbances Inverted pendulum system Time-varying gain

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Multi-Targets Visiting Orbit Design Based on Numerical Method

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Guidance,Navigation and control 2025年第1期05卷 139-148页

作者： Zenan Zhong Zhengxiang Sun Songyan Wang Tao Chao Ming Yang Control and Simulation Center Harbin Institute of Technology National Key Laboratory of Modeling and Simulation for Complex Systems Harbin Institute of Technology Beijing Institute of Space Long March Vehicle

In this paper, for the two/three targets in the circle orbit with the same altitude, a numerical method is presented to design an orbit for a spacecraft to visit multiple targets without maneuvering. First,for the two targets' case, an equation is established by the relationship of the two angles that both are the function of the time, one of the angles is the angle between two targets' geocentric position vectors at two times, and another one is the spacecraft flight angle during the two times. The visit time can be solved by the assumption that one of the visit times is known in the equation, and the orbit element can be transferred from the position and velocity vector determined by the solved visit time. Then, for the three targets' case, the problem is decoupled into two cases of two targets, and there is a public target in each case. Based on the method for two targets, two different orbits can be obtained by determining the visit time of the public target. The difference between two orbits can be expressed by the difference in velocity vectors of the public target at different times. A sampling method is utilized to select two velocity vectors with relatively small differences as initial values, the Newton iteration method is used to obtain visit times with higher accuracy. Simulation results illustrate the effectiveness of the orbit design methods.

关键词： Orbit design method multiple targets visit circle orbit non-maneuvering

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Revealing attributes of an object based on incomplete and inconsistent empirical data 8

Revealing attributes of an object based on incomplete and in...

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8th International Conference on Information Technology and Nanotechnology, ITNT 2022

作者： Semenova, Valentina Smirnov, Sergei Laboratory for Analysis and Modeling of Complex Systems Samara Federal Research Scientific Center RAS Institute for the Control of Complex Systems RAS Samara Russia

ISBN: (数字)9781665485715

ISBN: (纸本)9781665485715

The paper considers the problem of building a semantic model of the object under study, which determines its attributes, *** composition of the properties inherent in the object. The set of these attributes is a subset of all measured (in a broad sense) properties of the object under study. Processing the results of such multidimensional measurements, observations, registration of expert opinions, etc. gives the initial empirical material in the form of generally logically many-valued assessments of judgments truth of the form 'the property x is inherent in the object g'. On the other hand, the subject may have a priori knowledge about the coexistence variants of various attributes in the object under study. For such circumstances, a method is proposed for identifying all admissible sets of object attributes, including a logical-combinatorial method for choosing the 'best' of these sets, which is taken as a semantic model of the object. The paper considers examples of applications of the developed models and methods, indicates the tasks of additional research of the problem to substantiate the proposed methodology for the semantic identification of an object based on empirical data. © 2022 IEEE.

关键词： Semantics

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control Design of Flight Simulation Turntable Based on Model-Free Adaptive control

Control Design of Flight Simulation Turntable Based on Model...

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2023 China Automation Congress, CAC 2023

作者： Yue, Mingtan Zhang, Yu Huo, Xin Control & Simulation Center Harbin Institute of Technology Harbin150080 China Beijing Simulation Center National Key Laboratory of Modeling and Simulation for Complex Systems Beijing100854 China

ISBN: (纸本)9798350303759

Aiming at the problem of periodic interference in flight simulation turntables, a design method of full-form dynamic linearization model free adaptive control (FFDL-MFAC) is proposed. An equivalent dynamic linearized data model is established at each dynamic operating point of the closed-loop system to achieve adaptive control of the nonlinear system, which gives the controller the advantage of online adjustment of internal parameters and improves the robustness of the control system. Aiming at the difficulty of parameter adjustment caused by the increase of dimension of the pseudo partial derivative matrix, a PID-like MFAC parameter adjustment method is proposed, which greatly reduces the difficulty of parameter adjustment of the model-free adaptive controller. The simulation results of MFAC and PID show that the designed FFDL-MFAC controller outperforms the conventional PID in tracking command signals and suppressing periodic disturbances. © 2023 IEEE.

关键词： controllers

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A credibility allocation approach of complex simulation systems 35

A credibility allocation approach of complex simulation syst...

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35th European modeling and Simulation Symposium, EMSS 2023

作者： Zhang, Huan Li, Wei Geng, HuaPin Ma, Ping Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150080 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9788885741881

complex simulation systems usually need to satisfy the credibility requirements and the credibility of complex simulation systems is inextricably linked to the credibility of simulation sub-systems. Hence, in order to guarantee the credibility of complex simulation systems meets requirements, it is necessary to allocate the credibility of simulation sub-systems. complex simulation systems are composed of several correlative simulation sub-systems and their credibility has correlation relationships, which makes it difficult to obtain the credibility of simulation sub-systems quickly. The existing works mostly ignore the relationships between the sub-systems and are difficult to generate the credibility allocation results of simulation sub-systems. In this paper, we model the credibility allocation problem as a probabilistic inference problem based on the pairwise Markov random field (PMRF). In addition, we apply several inference algorithms to perform the inference exactly and approximately in the credibility PMRF. Finally, experiments are conduted on the air defense combat complex simulation system, and the experiment results demonstrate that the proposed method can obtain the credibility allocation results quickly and accurately. © 2023 The Authors.

关键词： Inference engines

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Optimal Deployment of Target Localization With Distance-Dependent Noise

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IEEE Internet of Things Journal 2025年

作者： Tian, Junxi Yang, Ming Chao, Tao Harbin Institute of Technology Control and Simulation Center National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150001 China

The cooperative localization of radio-based distance measurement is one of the methods to effectively suppress the nonline of sight (NLOS) ranging errors and as a complement to visual/global navigation satellite system (GNSS) localization for unmanned aerial vehicle (UAV) in GNSS challenging or denied environments due to its motility. Target localization can be regarded as a special case of cooperative localization. Meanwhile, the UAV can be considered as a ranging node when the ranging terminal is rigidly mounted on the UAV. To improve the target localization accuracy, the optimal deployment of anchor UAVs is one of the factors we consider when the noise characteristics are different. In this paper, the range-dependent noise in a real flight environment is considered and modeled separately according to the difference in noise characteristics. Subsequently, based on this correlation model, the Fisher information matrix (FIM) and a cost function derived from the A-optimal criterion are provided. Finally, the optimal deployment conditions and the minimum mean square error (MMSE) can be derived by minimizing the cost function as the objective. Through simulation and localization experiments, the validity of the optimal deployment conditions and the corresponding MMSE are verified. Meanwhile, it is concluded that when the noise is range-dependent, it will not affect the optimal deployment result but will significantly change the value of MMSE. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Universal method of accounting the properties existence constraints it problems of deriving formal concepts from fuzzy object-attributive data 7

Universal method of accounting the properties existence cons...

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7th IEEE International Conference on Information Technology and Nanotechnology, ITNT 2021

作者： Samoilov, Alexandr Smirnov, Sergey Samara Federal Research Scientific Center of RAS Institute for the Control of Complex Systems RAS Laboratory for Analysis and Modeling of Complex Systems Samara Russia

ISBN: (纸本)9781665432177

Object of research is the processing of fuzzy object-attributive data - empirically established 'object-properties' relation - in order to identify formal concepts and construct a lattice that fixes a partial ordered generalization relation on a set of formal concepts. The paper is devoted to implementation of the method of preprocessing the initial fuzzy 'object-properties' relation proposed earlier by the authors, which provides for taking into account the properties existence constraints - a priori subjective attitudes that fix the permissible variants of the intent of formal concepts. The method is suitable for all types of biclustering tasks: to derive distinct and fuzzy concepts from the threshold cross-section of the source data, to derive fuzzy concepts based on the fuzzy closure of the source data. Implementation of the method involves the representation of a fuzzy set of properties for each object in the training sample as a composition of a finite kit of distinct sets, filtering this kit of sets for accounting properties existence constraints and approximation of a fuzzy set of properties of the object of training sample based on the composition of the filtered sets of properties. The effectiveness of the proposed implementation provides by the rational organization of each of these actions and in fact their partial combination. © 2021 IEEE.

关键词： Formal concept analysis

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Personalized gait trajectory generation based on anthropometric features using Random Forest

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Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

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Dynamic Walking and Stepping over Large Obstacles of Biped Robots: A Poincaré Map Approach

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Journal of Engineering Science and Technology Review 2022年第6期15卷 186-200页

作者： Kalamain, Nasrin Farrokhi, Mohammad School of Electrical Engineering Iran University of Science and Technology Tehran Iran School of Electrical Engineering Center of Excellence for Modeling and Control of Complex Systems Iran University of Science and Technology Tehran Iran

This paper considers dynamic stepping of biped robots when walking through a big obstacle, which is a great problem for these kinds of robots, using nonlinear model predictive control technique. No need for trajectory planning is one of the key advantages of this method. Hence, the gait length is not predefined and the controller determines it on the basis of the physical restraints and dynamic constancy conditions for approaching the obstacle and stepping over it. The stability and good performance for stepping over large obstacles are guaranteed by the definition of appropriate linear and nonlinear constraints and cost functions. Furthermore, to solve the uncertainty problem corresponding to the biped dynamic model, neural networks are used to identify the model of robot. For stability analysis, the Poincaré map with the fixed-point technique is utilized to guarantee the robot stability. Simulation outcomes indicate excellent efficiency of the suggested technique used to a five-link biped robot crossing over a 40×15 cm obstacle in sagittal plane when preserving a safety clearance from it with no need to a predefined trajectory © 2022 School of Science, IHU. All Rights Reserved.

关键词： Cost functions

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Models of Battle Dynamics in Strategic Computer Games 16

Models of Battle Dynamics in Strategic Computer Games

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16th International Conference Management of Large-Scale System Development, MLSD 2023

作者： Laryushin, Ivan Dmitrievich Pashin, Dmitrii Sergeevich Koltochenko, Yaroslav Alekseevich Ereshko, Felix Ivanovich Gaponov-Grekhov Institute of Applied Physics Ras Plasma Physics Department Nizhny Novgorod Russia State University of Nizhny Novgorod Faculty of Physics National Research Lobachevsky Nizhny Novgorod Russia Moscow Institute of Physics and Technology Department of Mathematical Modeling of Complex Systems and Optimization Moscow Russia Federal Research Center 'Computer Science and Control' of the Ras Department of Information and Computing Systems Moscow Russia

ISBN: (纸本)9798350337907

A set of new models that describe the dynamics of battles in strategic computer games is presented. These models not only have descriptive functions, but also allow solving problems of optimizing army control under given conditions, as well as calculating the most efficient composition of the army for the planned operation within a computer game. © 2023 IEEE.

关键词： Computer games

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