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Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation

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Chinese Journal of Aeronautics 2012年第6期25卷 954-962页

作者： yao jianyong JIAO Zongxia yao Bin School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China School of Mechanical Engineering Purdue University West Lafayette IN 47907 USA

Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.

关键词： electro-hydraulic load simulator robust control friction compensation feedback linearization LuGre model nonlinear control state estimation

Disturbance observer based actor-critic learning control for uncertain nonlinear systems

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Chinese Journal of Aeronautics 2023年第11期36卷 271-280页

作者： Xianglong LIANG Zhikai yao yaowen GE jianyong yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China College of Artificial Intelligence Nanjing University of Post and TelecommunicationNanjing 210023China

This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying *** proposed control algorithm integrates a filter-based design method with actor-critic learning architecture and disturbance observer to circumvent the unmodeled dynamic and the timevarying *** be specific,the actor network is employed to estimate the unknown system dynamic,the critic network is developed to evaluate the control performance,and the disturbance observer is leveraged to provide efficient estimation of the compounded disturbance which includes the time-varying disturbance and the actor-critic network approximation ***,highgain feedback is avoided and the improved tracking performance can be ***,a composite weight adaptation law for actor network is constructed by utilizing two types of signals,the cost function and the modeling ***,theoretical analysis demonstrates that the developed controller can guarantee bounded *** simulations and experiments on a robot manipulator are implemented to validate the performance of the resulted control strategy.

关键词： Actor-critic structure Composite adaptation Disturbance observer Robot manipulator Uncertain nonlinear system

Active Fault Tolerant Nonsingular Terminal Sliding Mode Control for Electromechanical System Based on Support Vector Machine

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 189-203页

作者： Jian Hu Zhengyin Yang jianyong yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

Effective fault diagnosis and fault-tolerant control method for aeronautics electromechanical actuator is concerned in this *** borrowing the advantages of model-driven and data-driven methods,a fault tolerant nonsingular terminal sliding mode control method based on support vector machine(SVM)is proposed.A SVM is designed to estimate the fault by off-line learning from small sample data with solving convex quadratic programming method and is introduced into a high-gain observer,so as to improve the state estimation and fault detection accuracy when the fault *** state estimation value of the observer is used for state reconfiguration.A novel nonsingular terminal sliding mode surface is designed,and Lyapunov theorem is used to derive a parameter adaptation law and a control *** is guaranteed that the proposed controller can achieve asymptotical stability which is superior to many advanced fault-tolerant *** addition,the parameter estimation also can help to diagnose the system faults because the faults can be reflected by the parameters *** comparative simulation and experimental results illustrate the effectiveness and advancement of the proposed controller compared with several other main-stream controllers.

关键词： Aeronautics electromechanical actuator Fault tolerant control Support vector machine State observer Parametric uncertainty

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 135-145页

作者： Junjie Mi jianyong yao Wenxiang Deng School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent *** nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external *** terms severely restrict the tension tracking *** tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling *** to the large number of calculations required for this method,it is inconvenient for practical engineering *** simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was *** adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external *** model disturbance term can be compensated for in the designed RISE *** asymptotic stability of the system was proven according to the Lyapunov stability ***,a comparative analysis of the proposed nonlinear controller and several other controllers was *** results indicated that the control of the winding tension was significantly enhanced.

关键词： Winding tension Continuous robust integral of the sign of the error(RISE)control Adaptive control Disturbance compensation Extended state observer(ESO) Tension control

Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach

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Chinese Journal of Aeronautics 2013年第3期26卷 814-822页

作者： yao jianyong Jiao Zongxia Han Songshan School of Mechanical Engineering Nanjing University of Science and Technology Science and Technology on Aircraft Control Laboratory Beihang University

Low-velocity tracking capability is a key performance of flight motion simulator （FMS）, which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.

关键词： Adaptive control Backstepping Flight motion simulator Friction compensation Hydraulic actuator Robust control

High dynamic output feedback robust control of cascaded extended state observer

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Chinese Journal of Aeronautics 2022年第7期35卷 300-309页

作者： Wenxiang DENG jianyong yao Zongxia JIAO Xiaochao LIU School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China the State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

High dynamic tracking performance is a key technical index of hydraulic flight motion simulator(HFMS).However,the strong nonlinearities,various model uncertainties and measurement noise in hydraulic actuation systems limit the high dynamic performance *** this paper,the outer axis frame of a HFMS is taken as a case study and its nonlinear dynamic model with consideration of strong nonlinearities,matched and mismatched uncertainties is established.A novel cascaded extended state observer(ESO)is proposed to estimate the unavailable system states to avoid the adverse effect of measurement noise on control ***,the designed cascaded ESO also produces estimates of matched and mismatched ***,an output feedback robust controller(OFRC)is proposed by integrating the cascaded ESO with a robust integral of the sign of the error(RISE)feedback based on the backstepping *** proposed controller achieves compensation of both matched and mismatched model uncertainties in an output feedback *** analysis indicates that the proposed OFRC ensures the boundedness of all closed-loop system signals in the presence of matched and mismatched timevarying model *** asymptotic tracking performance can also be obtained when the model uncertainties are *** experimental results show that the proposed OFRC achieves significant performance improvement compared with the extensively employed PI control with velocity feedforward(VFPI).

关键词： Flight motion simulator High dynamic tracking Hydraulic actuator Observer Output feedback Robust control

Observer-based motion axis control for hydraulic actuation systems

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Chinese Journal of Aeronautics 2023年第9期36卷 408-415页

作者： Xiaowei YANG yaowen GE Wenxiang DENG jianyong yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

Unknown dynamics including mismatched mechanical dynamics(i.e.,parametric uncertainties,unmodeled friction and external disturbances)and matched actuator dynamics(i.e.,pressure and flow characteristic uncertainties)broadly exist in hydraulic actuation systems(HASs),which can hinder the achievement of high-precision motion axis *** surmount the practical issue,an observer-based control framework with a simple structure and low computation is developed for ***,a simple observer is utilized to estimate mismatched and matched unknown dynamics for feedforward *** combining the backstepping design and adaptive control,an appropriate observer-based composite controller is provided,in which nonlinear feedback terms with updated gains are adopted to further improve the tracking ***,a smooth nonlinear filter is introduced to shun the“explosion of complexity”and attenuate the impact of sensor noise on control *** a result,this synthesized controller is more suitable for practical *** analysis uncovers that the developed controller assures the asymptotic convergence of the tracking *** merits of the proposed approach are validated via comparative experiment results applied in an HAS with an inertial load as well.

关键词： Adaptive control Asymptotic convergence Hydraulic actuation system Sensor noise Unknown dynamics compensation

Precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

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Chinese Journal of Aeronautics 2024年第1期37卷 463-471页

作者： Xiaowei YANG yaowen GE Wenxiang DENG jianyong yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China

This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters,mismatched and matched *** from the traditional adaptive results that are applied to dispose of unknown constant parameters only,the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant *** both mismatched and matched disturbances existing in electro-hydraulic axis systems can also be addressed in this *** skillful integration of the backstepping technique and the adaptive control,a synthesized controller framework is successfully developed for electro-hydraulic axis systems,in which the coupled interaction between parameter estimation and disturbance estimation is ***,this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and ***,a nonlinear filter is designed to eliminate the“explosion of complexity”issue existing in the classical back-stepping *** stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also ***,contrastive experiment results validate the superiority of the developed method as well.

关键词： Adaptive control Asymptotic convergence Electro-hydraulic axis system Precision motion control Unknown time-variant parameters and disturbances

Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation

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Defence Technology（防务技术） 2024年第2期32卷 144-158页

作者： Shusen Yuan Wenxiang Deng jianyong yao Guolai Yang School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering *** this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is *** utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is *** unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust *** the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system ***,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering ***,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator *** co-simulations and experiments illustrate the advantages of the proposed approach.

关键词： Bidirectional stabilization system Robust control Adaptive control Backlash inverse Disturbance estimation