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Extended State Observer Based Nonsingular Terminal Sliding-mode control for Non-sinusoidal Oscillation of Continuous Casting Mold Driven by Servo Motor

Extended State Observer Based Nonsingular Terminal Sliding-m...

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第三十四届中国控制会议

作者： LI Qiang FANG Yiming KANG Kesong ZHENG Huicheng Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Mechanical & Electronics Engineering Shijiazhuang Institute of Technology

ISBN: (纸本)9781467374439

A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal(include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while the oscillation waveform of the mold is nonlinear periodic function, firstly, establish the mapping between them to solve the irreversible of this system, and use a third-order tracking differentiator(TD) which has high-speed tracking ability and good tracking precision to track the result of the mapping function and obtain its derivative signal simultaneously. Then a new type of control scheme combined the extended state observer(ESO) with nonsingular terminal sliding-mode control is adopted in investigation. The controller is designed for the integral system by adopting a non-singular terminal sliding mode manifold and can make the singularity avoided by preventing differentiating terms deriving the control laws and applying a continuous control strategy to resolve the chattering. Meanwhile, the ESO is designed to estimate the states and the lumped uncertain disturbances accurately without requiring exact mathematical model and the sensors. The proposed controller can guarantee stabilization of the tracing system. Simulated results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： Sliding mode control,Extended state observer,Third order TD,Non-sinusoidal oscillation,Continuous casting mold

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Multi-user Symmetric Cooperation Based on Nash Bargaining Solution in Cooperative Relay Networks

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International Journal of Automation and computing 2011年第4期8卷 452-458页

作者： Kai Ma Xin-Ping Guan Juan Wang Xiao-Min Wei Key Laboratory of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 PRC School of Electronics Information and Electrical Engineering Shanghai Jiao Tong University Shanghai 200240 PRC

This paper presents a symmetric cooperation strategy for cooperative relay networks with multiple users. The multi-user symmetric cooperation model and the relay selection algorithm are proposed. Then, the time slot allocation problem is cast into a bargaining problem, and the optimal time slot allocation solution is obtained by Nash bargaining solution （NBS）. Moreover, we also consider the implementations of the cooperation strategy, i.e., the grouping and admission control algorithm. Simulation results show that users can obtain larger rates under the symmetric cooperation strategy than the non-cooperative case.

关键词： Cooperative relay Nash bargaining solution （NBS） time slot allocation relay selection admission control.

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Design and Verification of Aerostat Power Supply System

Design and Verification of Aerostat Power Supply System

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第25届中国控制与决策会议

作者： WEN Yintang HE Junhua HU Zhongquan ZHANG Lili XU Danqin Space high-tech research center Yanshan University Hebei Province Key Industrial Computer Control Engineering Laboratory College of Electrical Engineering Yanshan University

ISBN: (纸本)9781467355339

The aerostat power system was designed, it's simulation experiment was conducted, and it's data were analyzed according to the operating characteristics of the aerostat in this paper. The influence of the environmental conditions and different loads on the power supply system was also analyzed because the requirements in all aspects in the aerostats power supply system are very rigorous in the fields of aerospace. A detail researches and analysis on key technologies of the floating power supply system were carried out considering the relationship between illumination conditions and peak power. Then, a design of aerostats' power supply system was brought up based on the energy balance principle. At last, the feasibility of the design systems was verified and some key issues were analyzed in detail through the analysis to low-altitude simulation test data.

关键词： Power matching, Power systems, Photovoltaic array, Storage battery, Electrical characteristics

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Event-Triggered Robust Model Predictive control for Multi-Agent Systems Under Hybrid Attacks 42

Event-Triggered Robust Model Predictive Control for Multi-Ag...

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42nd Chinese control Conference, CCC 2023

作者： Yin, Yongxin Li, Jianxiong Gao, Chongyi Fang, Yiming Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tangshan University Department of Electromechanical Engineering Tangshan063002 China

ISBN: (纸本)9789887581543

In this paper, the consensus control problem for multi-agent systems (MASs) suffering hybrid attacks is discussed, in which the hybrid attacks include randomly occurring deception attacks on system dynamic behavior and denial-of-service attacks (DoS). An event-triggered robust model predictive control (RMPC) method is presented to achieve the consensus of MASs under hybrid attacks. It can be proved that the consensus errors can be asymptotic with prescribed H∞ performance, the sufficient condition for stability can be given in terms of linear matrix inequalities (LMIs), and the controller gains are obtained by solving an optimization problem involving some LMIs. Employing the event-triggered mechanism with maximum trigger interval, not only can not only save computation time and facilitate the efficiency of the shared resources but also can effectively be responsible for the negative impact of cyber-attacks on system performance. Finally, simulation results are given to illustrate the validity and effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Extended state observer based nonsingular terminal sliding-mode control for non-sinusoidal oscillation of continuous casting mold driven by servo motor 34

Extended state observer based nonsingular terminal sliding-m...

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34th Chinese control Conference, CCC 2015

作者： Li, Qiang Fang, Yiming Kang, Kesong Huicheng, Zheng Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Department of Mechanical and Electronics Engineering Shijiazhuang Institute of Technology Shijiazhuang China

ISBN: (纸本)9789881563897

A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal (include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while the oscillation waveform of the mold is nonlinear periodic function, firstly, establish the mapping between them to solve the irreversible of this system, and use a third-order tracking differentiator (TD) which has high-speed tracking ability and good tracking precision to track the result of the mapping function and obtain its derivative signal simultaneously. Then a new type of control scheme combined the extended state observer (ESO) with nonsingular terminal sliding-mode control is adopted in investigation. The controller is designed for the integral system by adopting a non-singular terminal sliding mode manifold and can make the singularity avoided by preventing differentiating terms deriving the control laws and applying a continuous control strategy to resolve the chattering. Meanwhile, the ESO is designed to estimate the states and the lumped uncertain disturbances accurately without requiring exact mathematical model and the sensors. The proposed controller can guarantee stabilization of the tracing system. Simulated results are provided to demonstrate the effectiveness of the proposed control scheme. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous casting mold Extended state observer Non-sinusoidal oscillation Sliding mode control Third order TD

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A double-loop structure in the adaptive generalized predictive control algorithm for control of robot end-point contact force

A double-loop structure in the adaptive generalized predicti...

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作者： Wen, Shuhuan Zhu, Jinghai Li, Xiaoli Chen, Shengyong Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China College of Computer Science Zhejiang University of Technology Hangzhou310023 China

Robot force control is an essential issue in robotic intelligence. There is much high uncertainty when robot end-effector contacts with the environment. Because of the environment stiffness effects on the system of the robot end-effector contact with environment, the adaptive generalized predictive control algorithm based on quantitative feedback theory is designed for robot end-point contact force system. The controller of the internal loop is designed on the foundation of QFT to control the uncertainty of the system. An adaptive GPC algorithm is used to design external loop controller to improve the performance and the robustness of the system. Two closed loops used in the design approach realize the systems performance and improve the robustness. The simulation results show that the algorithm of the robot end-effector contacting force control system is effective. © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Point contacts

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Energy Efficiency Maximization for Hybrid Access Femtocell Networks via Incentive Mechanism and Power control Strategy 13

Energy Efficiency Maximization for Hybrid Access Femtocell N...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2023

作者： Liu, Xuelin Wang, Weimin Liu, Zhixin School of Control Science and Engineering Dalian University of Technology Dalian116023 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Hebei Province Qinhuangdao066004 China

ISBN: (纸本)9798350315196

Femtocell network has a great development space in increasing coverage and capacity of wireless network. In order to meet the quality of service (QoS) requirements of MUEs in MBS coverage, we propose a seed channel incentive mechanism in the two-tier femtocell network, where the MBS provides sub-channels to FBSs to motivate them to serve for the MUEs within the MBS coverage. To maximize the energy efficiency of femtocell layer after hybrid access, the optimization problem is modeled. The combined method of worst-case, Dinkelbach and continuous convex approximation is developed to make the optimization problem solvable. In addition, in order to realize the practical application of the proposed scheme, an optimization algorithm combining sub-channel and power allocation is developed. The numerical results show that the proposed algorithm is effective in improving the energy efficiency of the femtocell layer. © 2023 IEEE.

关键词： Femtocell

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Nonlinear control of triple inverted pendulum based on T-S cloud inference network 29

Nonlinear control of triple inverted pendulum based on T-S c...

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第29届中国控制与决策会议

作者： Xiu-ling Zhang Jing-huan Dai Yan-tao Cheng Shuang Hao Jia-huan Li Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

ISBN: (纸本)9781509046584

The triple inverted pendulum is a nonlinear, dynamic and unsteady system. The traditional control methods of triple inverted pendulum have limited control accuracy and slow responding. This kind of pendulum system is difficult to control due to the inherent instability and nonlinear behavior. In this paper, GA-RBF-ARX model is applied to model triple inverted pendulum based on its input/output data. According to the nonlinear identification model, a novel method via T-S cloud inference network controller optimized by genetic algorithm(GA) is proposed. T-S cloud inference network is constituted by T-S fuzzy neural network and the cloud model. Therefore, the rapid of fuzzy logic and the uncertain of cloud model for processing data are both taken into account. What's more, GA possesses global optimization characteristics and good parallel design structure. Compared with the simulation recognition results of T-S fuzzy neural network controller, T-S cloud reference network controller has strong robust and fast calculate speed. So, T-S cloud inference network by GA is an effective method in control.

关键词： T-S cloud inference network GA-RBF-ARX Triple inverted pendulum

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Flatness pattern recognition via EA-ABC cloud inference network implemented by DSP 35

Flatness pattern recognition via EA-ABC cloud inference netw...

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第35届中国控制会议

作者： Zhang Xiuling Gao Wuyang Lai Yongjin Cheng Yantao Hou Daibiao Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

ISBN: (纸本)9781509009107

The present flatness pattern recognition method based on neural network belongs to software simulation,and it can't be directly applied to engineering ***'s more,the accuracy of present flatness pattern recognition is *** order to improve it,flatness pattern recognition via EA-ABC cloud inference network implemented by digital signal processor(DSP) is presented in this ***,based on T-S cloud inference network,flatness pattern recognition model is designed in *** it is applied to 900 HC reversible cold rolling ***,flatness pattern recognition model optimized by efficient adaptive artificial bee colony(EA-ABC) algorithm is ***,the two results of flatness pattern recognition model,which run onMATlab and DSP respectively,are compared and *** results confirm that EA- ABC algorithm has such advantages:high optimizing precision,less number of iterations,fast speed of *** pattern recognition model via EA-ABC cloud inference network can identify the defect types of flatness *** the same time,the experimental results verify that the T-S cloud inference network can run on the hardware TI TMS320F2812 in a fast speed and it provide a basis for neural network which is applied to practical engineering.

关键词： T-S cloud inference network flatness pattern recognition DSP hardware implementation EA-ABC algorithm

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An improved method for MRAC system of indirectly designed

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2012 International Conference on Cybernetics and Informatics, ICCI 2012

作者： Han, Huishan Liu, Yan Cheng, Defang Gao, Xue Xingtai Polytechnic College Xingtai 054000 China Key Lab. of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9781461438717

Based on Lyapunov stability theorem, a MRAC system was researched to solve that differential value of plant output is unknown. Meanwhile an improved design for MRAC system aimed on the factor of restricting convergence of system is given. The method not only solves the problem that makes the system cannot work well as a result of the adjustable parameters, but also improves the convergence of plant. The simulation graphs have shown that the plant can follow the output of the reference model quit well © 2013 Springer Science+Business Media.

关键词： MRAC system Lyapunov theory Convergence model reference adaptive control Converge design improvement adjustable parameter Lyapunov methods plants

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