Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The ...
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Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hyste...
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In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.
Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a c...
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Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.
An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed...
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An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.
In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for pie...
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In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save netwo...
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ISBN:
(纸本)9781479947249
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the in...
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This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.
This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order in...
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This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.
The research of networked fire controlsystem simulation plays an important role in modern warfare. Federates of simulation systems based on High Level Architecture (HLA) have a poor reusability. In order to improve t...
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The research of networked fire controlsystem simulation plays an important role in modern warfare. Federates of simulation systems based on High Level Architecture (HLA) have a poor reusability. In order to improve their reusability, the idea of componentization was used to divide federates into several smaller reusable modules by analyzing the internal information flow of the federates. By component technology, three types of small components which have better reusability were designed, including common components, special components and communication components. These components can be used to build a multiple complex models which can be combined with new simulation frameworks to form defense simulation systems for different attacking targets. A simulation task was designed to verify the flexibility and reusability of the designed components and to improve the function of the federates, which effectively improved development efficiency of simulation systems.
In this paper, the distributed cooperative attitude tracking control law based on a new modified fast terminal sliding mode is presented for multiple spacecraft formation flying in the presence of model uncertainty an...
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In this paper, the distributed cooperative attitude tracking control law based on a new modified fast terminal sliding mode is presented for multiple spacecraft formation flying in the presence of model uncertainty and external disturbance. Firstly, to speed the convergence rate and avoid the singularity problem, a new modified fast terminal sliding mode manifold is proposed. Then, based on the proposed terminal sliding mode manifold, the distributed cooperative attitude tracking controller is designed for the spacecraft formation flying(SFF) in the presence of model uncertainty and external disturbance, Meanwhile, the finite time stability of SFF system can be also guaranteed. Finally, numerical simulation is given to verify the validity of the proposed control algorithm.
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