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Internal model-based tracking of a servo gantry system with frequency-varying references

IFAC-PapersOnLine 2016年第9期49卷 39-44页

作者： Zhang Z. Chen H. Yan P. State Key Laboratory of Tribology Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Lab of Precision Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing 100084 China State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China School of Mechanical Engineering Shandong University Jinan Shangdong 250061 China

This paper presents an internal model-based tracking control for a class of nonlinear systems driven by frequency-varying references. It is shown that if the error-zeroing input is polynomial of exosystem state, a linear time-varying internal model can be utilized to generate higher order modes of the exosystem. The proposed control design is applied to a high precision servo gantry system to track frequency-varying references. A numerous experiments are conducted to demonstrate the significant improvement of the tracking performance with higher order internal model. © 2016

关键词： Internal model principle linear parameter-varying systems mechatronics

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Lyapunov function synthesis — Algorithm and software

Lyapunov function synthesis — Algorithm and software

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Tobias Leth Christoffer Sloth Rafał Wisniewski Department of Electrical Engineering section of Automation & Control University of Aalborg Aalborg East Denmark

In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewise-polynomial defined on simplices, which compose a collection of simplices. The algorithm is elaborated and crucial features are explained in detail. The strengths and weaknesses of the algorithm are exemplified and a new way of sub-dividing the simplices is presented.

关键词： Lyapunov methods Face Algorithm design and analysis Software algorithms Two dimensional displays Asymptotic stability Power system stability

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Driving Physiological Indicator Recognition Based on Smart Bracelet Data 16

Driving Physiological Indicator Recognition Based on Smart B...

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16th COTA International Conference of Transportation Professionals: Green and Multimodal Transportation and Logistics, CICTP 2016

作者： Zhao, Li Li, Chaofei Guo, Weiwei Tan, Jiyuan Li, Li Yin, Kaili Research Institute of Highway Ministry of Transport Beijing China College of Electrical and Control Engineering North China Univ. of Technology Beijing China Dept. of Automation Tsinghua Univ. Beijing China

ISBN: (数字)9780784479896

ISBN: (纸本)9780784479896

Various research on heart rate variability (HRV) have focused on the characteristics of the peaks and the valleys of a heart rate graph and most have been analyzed using medical devices. This paper developed a driving physiological indicator extraction method. The method is based on a pulse signal detection with a feature point identification model and an abnormal signal detection combined with a revamp model. According to physiological theory and the relationship between pulse and ECG readings, the pulse feature points can be detected. This method is easier and more accurate than the existing wavelet pulse signal detection method, which can be used in the wearable devices, such as the smart band and the smart watch. The method was also validated efficiently and accurately in the experiments. © 2016 ASCE.

关键词： Signal detection

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Model Free Adaptive Predictive control Approach for Phase Splits of Urban Traffic Network

Model Free Adaptive Predictive Control Approach for Phase Sp...

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第28届中国控制与决策会议

作者： Shangtai Jin Zhongsheng Hou Ronghu Chi Xuhui Bu Advanced Control Systems Laboratory of the School of Electronic and Information Engineering Beijing Jiaotong University School of Automation and Electrical Engineering Qingdao University of Science and Technology School of Electrical Engineering & Automation Henan Polytechnic University

ISBN: (纸本)9781467397155

This paper proposes a novel model free adaptive predictive control strategy for phase splits of urban traffic *** accurate model of the traffic network is difficult to *** using dynamic linearization approach,the nonlinear time-varying traffic network is described as an equivalent simplified data ***,model free adaptive predictive control(MFAPC) scheme is developed by using the equivalent data *** robustness of the MFAPC based phase splits strategy to time-varying parameters and traffic demands is verified through simulation results.

关键词： Model free adaptive control Signal Splits Traffic Network

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Multiple-mode switched observer-based unknown input estimation for a class of switched systems

Multiple-mode switched observer-based unknown input estimati...

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第28届中国控制与决策会议

作者： Yantao Chen Junqi Yang Donglei Xie Wei Zhang College of Electrical Engineering and Automation Henan Polytechnic University Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

ISBN: (纸本)9781467397155

This paper considers the issue of unknown input estimation for a class of uncertain switched linear systems by designing multiple-mode switched *** average dwell time(ADT),the multiple-mode switched observer is proposed to estimate the states of switched system even if it subjects to unknown inputs,where the observer gain matrices are also obtained by solving a linear matrix inequality(LMI).A switching signal is designed to guarantee the exponential stability of error ***,an approach of differential numerical solution is provided to obtain the approximate value of system output *** on the state estimation and the numerical solution of system output derivative,a kind of algebraic reconstruction method of unknown information is developed such that the unknown input of switched system can be ***,a numerical simulation is given to illustrate the effectiveness of the proposed methods.

关键词： Multiple-mode switching observer Unknown input estimation Average dwell time

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Sensorless current model predictive control for maximum power point tracking of single-phase subMultilevel inverter for photovoltaic systems

Sensorless current model predictive control for maximum powe...

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2016 IEEE Energy Conversion Congress and Exposition, ECCE 2016

作者： Metry, Morcos Bayhan, Sertac Shadmand, Mohammad B. Balog, Robert S. Rub, Haitham Abu Renewable Energy and Advanced Power Electronics Research Laboratory Department of Electrical and Computer Engineering Texas AandM University College StationTX77843 United States Electrical and Computer Engineering Program Texas AandM University at Qatar Qatar Foundation Doha23874 Qatar Department of Electronics and Automation Gazi University Ankara Turkey

ISBN: (纸本)9781509007370

Stochastic dynamic behavior of solar energy necessitates the use of robust controllers for photovoltaic (PV) power electronics interfaces to maximize the energy harvest by continuous operation at maximum power point (MPP). This paper proposes a sensorless current model predictive control maximum power point tracking (SC-MPC-MPPT) algorithm. By predicting the future behavior of the power conversion stage, the proposed controller features fast and stable performance under dynamic ambient condition and negligible oscillation around MPP at steady state. Moreover, it does not require expensive sensing and communication equipment and networks to directly measure the changing solar insolation level. The power conversion stage includes an upstream boost dc/dc power conversion to a dc-link capacitor, and a downstream seven-level sub-Multilevel Inverter (sMI) from the dc-link capacitor to the grid. The sMI is using three power arms cascaded with an H-bridge inverter. This topology brings considerable benefits such as reduced number of power switches and their gate drivers when compared to the traditional multilevel inverters. Model Predictive control (MPC) is employed for current regulation of the sMI, thus eliminating the need of cascaded classical control loops and modulator. The proposed SC-MPC-MPPT technique for a boost converter is implemented experimentally using the dSPACE DS1007 platform. © 2016 IEEE.

关键词： Model predictive control

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Closed-loop fault detection for full-envelope flight vehicle with measurement delays

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Chinese Journal of Aeronautics 2015年第3期28卷 832-844页

作者： Wang Zhaolei Wang Qing Dong Chaoyang Gong Ligang School of Automation Science and Electrical Engineering Beihang University Beijing Aerospace Automatic Control Institute School of Aeronautical Science and Engineering Beihang University

Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.

关键词： Fault diagnosis Measurement delays Asynchronous switching Full-envelope flight vehicle Closed-loop fault detection

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Sigmoid function based integral-derivative observer and application to autopilot design

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Mechanical Systems and Signal Processing 2017年 84卷 113-127页

作者： Xingling Shao Honglun Wang Jun Liu Jun Tang Jie Li Xiaoming Zhang Chong Shen Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education North University of China Taiyuan 030051 China National Key Laboratory for Electronic Measurement Technology School of Instrument and Electronics North University of China Taiyuan 030051 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China

To handle problems of accurate signal reconstruction and controller implementation with integral and derivative components in the presence of noisy measurement, motivated by the design principle of sigmoid function based tracking differentiator and nonlinear continuous integral-derivative observer, a novel integral-derivative observer (SIDO) using sigmoid function is developed. The key merit of the proposed SIDO is that it can simultaneously provide continuous integral and differential estimates with almost no drift phenomena and chattering effect, as well as acceptable noise-tolerance performance from output measurement, and the stability is established based on exponential stability and singular perturbation theory. In addition, the effectiveness of SIDO in suppressing drift phenomena and high frequency noises is firstly revealed using describing function and confirmed through simulation comparisons. Finally, the theoretical results on SIDO are demonstrated with application to autopilot design: 1) the integral and tracking estimates are extracted from the sensed pitch angular rate contaminated by nonwhite noises in feedback loop, 2) the PID(proportional-integral-derivative) based attitude controller is realized by adopting the error estimates offered by SIDO instead of using the ideal integral and derivative operator to achieve satisfactory tracking performance under control constraint.

关键词： Sigmoid function Integral-derivative observer Drift phenomena Chattering effect Singular perturbation Describing function Autopilot design

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An Adaptive Sliding Mode control based on Radial Basis Function Network for Attitude Tracking control of Four Rotor Hover System

An Adaptive Sliding Mode Control based on Radial Basis Funct...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Rooh ul Amin Li Aijun Lu Hongshi Li Jiaxing IEEE School of Automation Northwestern Polytechnical University School of Electrical & Control Engineering Chang'an University

ISBN: (纸本)9781467383196

An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover *** model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the *** mode controller based on adaptive law is designed to achieve chattering free,good attitude tracking control in the presence of modeling *** stability of the proposed controller has been proved using the Lyapunov stability *** results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID,LQR controllers even without knowing the exact dynamical model.

关键词： SMC An Adaptive Sliding Mode control based on Radial Basis Function Network for Attitude Tracking control of Four Rotor Hover System

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Time-varying group formation control for general linear multi-agent systems with directed topologies

Time-varying group formation control for general linear mult...

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第35届中国控制会议

作者： Xiwang Dong Qingdong Li Qilun Zhao Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781509009107

Time-varying group formation control problems for general linear multi-agent systems with directed topologies are studied,where the agents in the multi-agent system are classified into subgroups and each subgroup is required to form a specified time-varying *** from the traditional complete formation,where only one formation is realized by the multiagent system,in the group formation,there could be multiple ***,a time-varying group formation protocol is constructed by local relative information of each agent and its *** nonsingular transformations are applied to the closed-loop multi-agent *** conditions for the multi-agent systems to achieve time-varying group formation are further presented together with the time-varying group formation feasibility *** expressions of the subgroup formation reference functions are derived to describe the macroscopic movement of the time-varying subgroup *** is shown that the subgroup formation reference functions are jointly determined by the dynamics,the initial states and formation information of each agent in the same subgroup,and also by the interaction topologies among agents from the same or different ***,an approach to design the time-varying group formation protocol is proposed by solving an algebraic Riccati ***,a numerical example with three subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.

关键词： Time-varying formation group formation general linear dynamics multi-agent system directed topology

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