This paper presents a single-loop Model Predictive control strategy that incorporates a reduced-order Generalized Proportional Integral Observe and a Kalman filter to enhance the speed regulation of Permanent Magnet S...
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In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Lap...
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In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Laplace equation. We assume that the wave elevation at two distinct points is the only measurement of water waves. We show that the state and water depth can be reconstructed from this point measurement records. The identification problem is recast as an optimization problem over an infinite-dimensional space. We propose the adjoint method-based identification algorithm to generate an estimated state and water depth. We then performed a numerical simulation to show the effectiveness of our designed algorithm by comparing it with existing studies.
作者:
Wei, YimingLu, XiaoboSoutheast University
Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China
Tiny bolts are widely used on high-speed trains, playing an important role in fixing train components. However, because of the complex running environment of trains, missing bolts occur from time to time and may cause...
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In this paper, a fully constrained collaboration synchronization model is proposed to solve the cooperative problem in the dual-arm assembly process. Compared with the single-arm robot, the dual-arm robot has higher f...
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At present, due to the high redundancy and strong coupling characteristics of mobile manipulator systems, there are few and in-depth studies on coordinated motion planning. Aiming at the above problems, this paper pro...
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This paper investigates the speed regulation problem of permanent magnet synchronous motor(PMSM) servo system with backlash based on model predictive control(MPC).It is known that the existing backlash in servo system...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This paper investigates the speed regulation problem of permanent magnet synchronous motor(PMSM) servo system with backlash based on model predictive control(MPC).It is known that the existing backlash in servo systems causes steady-state errors,limit cycles and rigid *** order to counteract the adverse performance degradations of the backlash nonlinearity,a composite MPC strategy is investigated based on backlash cancellation and disturbance ***,an approximated dead-zone model of backlash is ***,a generalized proportional-integral observer(GPIO) is constructed to estimate the lumped disturbances,including backlash modelling residual error,parameter uncertainties and external *** introducing disturbance estimation and backlash transmission torque into system model,a composite MPC can be obtained based on the prediction-precision enhanced model,which brings significantly improvements to control ***,the efficacy of the presented method is demonstrated by simulation results.
In the biaxial motion system,nonlinearities and mismatched disturbances always have adverse effects on the contouring accuracy,which are often *** of existing advanced control methods are developed only to suppress ma...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In the biaxial motion system,nonlinearities and mismatched disturbances always have adverse effects on the contouring accuracy,which are often *** of existing advanced control methods are developed only to suppress matched *** this paper,the necessity of taking the contour error as the control target is ***,four generalized proportional integral observers(GPIOs) are developed to estimate both matched and mismatched lumped ***,based on contour error,a sliding mode controller is developed for the biaxial motion *** introducing the disturbance estimations into the modified sliding surface design,a composite controller is *** proposed method effectively improves the contouring accuracy and suppress the mismatched disturbances,while the chattering caused by large switching gains is *** stability analysis of the system is established by means of the Lyapunov ***,to demonstrate the superiority and effectiveness of the controller,simulation results of the biaxial motion control system are presented in various working cases.
This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and...
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This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and relative position information is ***,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov ***,for the linear second-order multi-agent systems,some explicit consensus conditions are ***,two sets of numerical simulations are performed.
In this paper, a nonsmooth observer considering friction compensation is proposed for the sensorless permanent magnet synchronous motor (PMSM) to estimate the rotor position and speed. Friction is one of the main fact...
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Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combi...
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Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.
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