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Satisfactory fault-tolerant controller design for uncertain systems subject to actuator faults

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仪器仪表学报 2008年第5期29卷 921-926页

作者： Zhang Dengfeng su hongye Wang Zhiquan Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Key Lab of Digital Manufacturing Technology Huaiyin Institute of Technology Huai＇an 223001 China School of Automation Nanjing University of Science and Technology Nanjing 210094 China

Based on satisfactory control strategy,a new method for robust passive fault tolerant controller is proposed for a class of uncertain discrete-time systems subject to actuator *** state-feedback gain matrix is calculated by linear matrix inequality(LMI)*** designed controller guarantees that the closed-loop system meets the pre-specified consistent constraints on circular pole index and steady-state variance index simultaneously for normal case and possible actuator fault *** consistency of the performance indices is ***,with the mentioned indices constraints,a solution is obtained by convex optimal technique for the robust satisfactory fault-tolerant controller with optimal control-cost.

关键词：控制器设计方案不确定性误差机械仪器

An Improved Approach to Test Diagnosability of Bounded Petri Nets

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IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 297-303页

作者： Ning Ran hongye su Shouguang Wang State Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityYuquan Campus IEEE School of Information & Electronic Engineering Zhejiang Gongshang University

For bounded Petri nets, Cabasino et al. propose a diagnosability test method that is based on the analysis of a modified basis reachability graph and a basis reachability diagnoser. However, its complexity is exponential in the number of nodes of the basis reachability diagnoser. In order to reduce the complexity of their method, this paper presents a new diagnosability test approach for bounded Petri nets. We present the concept of an extended basis reachability graph and prove that our approach is of polynomial complexity in the number of nodes of extended basis reachability graphs. An example is given to illustrate the application of the presented approach. © 2017 Chinese Association of Automation.

关键词： Failure analysis Fault detection Petri nets Testing

Model predictive control with fractional-order delay compensation for fast sampling systems

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Science China(Information Sciences) 2021年第7期64卷 165-180页

作者： Ze ZHOU Zhitao LIU hongye su Liyan ZHANG State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Automation Wuhan University of Technology

Model predictive control(MPC) is widely used in fast sampling systems owing to its fast regulating ability. However, the sampling delay is a key issue and tends to be a fractional multiple of the sampling period. If the fractional-order delay is not accurately offset, the controller output will exhibit errors, thus resulting in oscillations in controlled system. Moreover, the MPC delay compensation algorithm is limited to the computation time. To address the problems of fractional delay and computational burden in fast sampling systems, we propose a new method to compensate for the fractional-order sampling ***, we use a finite-impulse-response fractional delay filter based on a Lagrange interpolation polynomial to approximate the fractional portion. Moreover, we prove that high accuracy and simplicity can be ensured when the polynomial order is one. Then, we estimate the current state variable using the delayed sampling signal and control signals of past moments. Further, we obtain the current control signal according to the estimated state variable. By considering the simultaneous existence of computational and sampling delays,a full compensation strategy is proposed. Computational simulation results validate the proposed MPC algorithm with fractional-order delay compensation and demonstrate its advantages.

关键词： model predictive control fast sampling systems sampling delay fractional-order Lagrange interpolation polynomial

Command filter-based I&I adaptive control for MIMO uncertain systems with input saturation and disturbances

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Science China(Information Sciences) 2023年第12期66卷 64-79页

作者： Qi HAN Zhitao LIU hongye su Xiangbin LIU State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Electronic Information Engineering Beijing Jiaotong University

This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation, and external disturbance. To avoid the analytic calculation in the backstepping process, a highgain auxiliary system is constructed to compensate for the effect of command filter error. The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors. A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous *** overcome the input saturation nonlinearity, a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law. Stringent analysis guarantees the stability of closed-loop system. Finally, simulated examples confirm the effectiveness of the suggested method.

关键词： adaptive control command filtered backstepping disturbance observer immersion and invariance MIMO systems

Reliable H-infinity filtering for linear systems with sensor saturation

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控制理论与应用（英文版） 2013年第1期11卷 80-85页

作者： Ting SHI hongye su Jian CHU Institute of Automation Hangzhou Dianzi University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University (Yuquan Campus)

In this paper, a new reliable H-infinity filter design problem is proposed for a class of continuous-time sys- tems with sensor saturation and failures. Attention is focused on the analysis and synthesis problems of a full order reliable H-infinity filter such that the filtering error dynamics is asymptotically stable with a guaranteed disturbance rejection atten- uation level -y. It is shown that the filtering error dynamics obtained from the original system plus the filter can be modeled by a linear system with sector bounded nonlinearity. The design conditions are given in terms of solutions to a set of linear matrix inequalities （LMIs）. These conditions are then considered in a convex optimization problem with LMIs constraints in order to design an optimal reliable H-infinity filter. A numerical example is given to illustrate the effectiveness of the proposed results.

关键词： H-infinity filtering Reliable filtering Sensor saturation Sensor failures Linear matrix inequality

Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face

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Chinese Journal of Mechanical Engineering 2019年第2期32卷 168-179页

作者： Chengjun Shao Jianfeng Liao Zhitao Liu hongye su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Fluid Power Transmission and Control Zhejiang University

Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.

关键词： Open type hard rock TBM Inhomogeneous load Position and posture rectification Indirect adaptive robust control

Rail pressure controller design of GDI basing on predictive functional control

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Control Theory and Technology 2019年第2期17卷 176-182页

作者： Zhiming ZHANG Lei XIE hongye su State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou Zhejiang 310027China

Gasoline direct injection(GDI)is a pivotal technique for a highly efficient ***,how to maintain a stable rail pressure which offers good fuel economy and low emissions,is still a challengeable *** this paper,a rail pressure controller is designed basing on predictive functional control(PFC),a model predictive control(MPC)method,to surmount the nonlinearity and disc on tinuity brought by the common rail pressure system(CRPS).A control-oriented piecewise linear model is prese nted to simplify the *** simulation results on a benchmark show that rail pressure tracks the setpoint accurately even with some *** from the conciseness of PFC algorithm,the controller can compute the online solution in a short time,which makes it possible to realize the strategy on a fast response system.

关键词： Rail pressure control model based predictive control predictive functional control

Multi-objective optimization for 10-kW rated power dynamic wireless charging systems of electric vehicles

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Science China(Information Sciences) 2022年第10期65卷 178-195页

作者： Ze ZHOU Zhitao LIU hongye su Liyan ZHANG State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University School of Automation Wuhan University of Technology

In this paper, we propose a method to optimize the output power, efficiency, and cost of the dynamic wireless charging(DWC) system of electric vehicles by using the transmitting coil spacing as the decision variable. In a set of transmitting equipment, we adopt a structure with two transmitting networks in parallel and derive loss models. The expressions of the output power and efficiency of the DWC system are obtained by data fitting. In addition, combined with the proposed cost function, we construct a multiobjective optimization problem on output power, efficiency, and cost. Due to the complexity of the objective function, it is difficult to solve the problem by the analytic method, and thus we propose a constrained adaptive particle swarm optimization(CAPSO) algorithm with high accuracy to solve the problem. Finally,the simulation results verify the feasibility of the proposed model. The advantages of the proposed CAPSO algorithm and the optimization results under different weight combinations are presented.

关键词： dynamic wireless charging electric vehicles multi-objective optimization constrained adaptive particle swarm optimization

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Polyhedral Feasible Set Computation of MPC-Based Optimal Control Problems

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IEEE/CAA Journal of Automatica Sinica 2018年第4期5卷 765-770页

作者： Lantao Xie Lei Xie hongye su Jingdai Wang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China College of Chemical and Biological Engineering Zhejiang UniversityHangzhou 310027China IEEE

Feasible sets play an important role in model predictive control(MPC) optimal control problems(OCPs). This paper proposes a multi-parametric programming-based algorithm to compute the feasible set for OCP derived from MPC-based algorithms involving both spectrahedron(represented by linear matrix inequalities) and polyhedral(represented by a set of inequalities) constraints. According to the geometrical meaning of the inner product of vectors, the maximum length of the projection vector from the feasible set to a unit spherical coordinates vector is computed and the optimal solution has been proved to be one of the vertices of the feasible set. After computing the vertices,the convex hull of these vertices is determined which equals the feasible set. The simulation results show that the proposed method is especially efficient for low dimensional feasible set computation and avoids the non-unicity problem of optimizers as well as the memory consumption problem that encountered by projection algorithms.

关键词： Feasible set computation linear matrix inequalities(LMIs) model predictive control(MPC) polyhedron