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Optimal deterministic disturbances rejection for singularly perturbed linear systems

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Journal of Systems Engineering and Electronics 2006年第4期17卷 824-828页

作者： Zhang Baolin tang gongyou Gao Dexin Coll. of Information Science and Engineering Ocean Univ. of China Qingdao 266071 P.R. China Dept. of Information and Mathematics Sciences Jiliang Univ Hangzhou 310018 P.R. China Coll. of Automation and Electronic Engineering Qingdao Univ. of Science and Technology Qingdao 266042 P.R. China.

Optimal deterministic disturbances rejection control problem for singularly perturbed linear systems is considered. By using the slow-fast decomposition theory of singular perturbation, the existent and unique conditions of the feedforward and feedback composite control （FFCC） laws for both infinite-time and finite-time are proposed, and the design approaches are given. A disturbance observer is introduced to make the FFCC laws realizable physically. Simulation results indicate that the FFCC laws are robust with respect to external disturbances.

关键词： singularly perturbed systems deterministic disturbances exosystem feedforward control optimal control disturbance observer.

Feedforward and feedback optimal control for linear time-varying systems with persistent disturbances

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Journal of Systems Engineering and Electronics 2006年第2期17卷 350-354页

作者： tang gongyou Zhao Yandong Zhang Baolin Coll. of Information Science and Engineering Ocean Univ. of China Qingdao 266071 P. R. China

The optimal control problem for linear time-varying systems affected by external persistent disturbances with known dynamic characteristics but unknown initial conditions is consider and a design procedure of a feedforward and feedbaek optimal controller is presented. The condition of existence and uniqueness of the control law is given. The disturbanee observer is proposed to make the feedforward control law realizable physically. Simulation results demonstrate that the feedforward and feedbaek optimal control law is more effective and robust than the elassical state feedbaek control law with respect to external disturbanees.

关键词： time-varying systems persistent disturbances optimal control feedforward control disturbance observer.

Stochastic optimal control of networked control systems with control packet dropouts

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控制理论与应用（英文版） 2012年第3期10卷 410-414页

作者： Shouwan GAO gongyou tang School of Computer Science and Technology China University of Mining and Technology Xuzhou Jiangsu 221116 China College of Information Science and Engineering Ocean University of China Qingdao Shandong 266100 China

This paper considers the stochastic optimal control problem for networked control systems （NCSs） with control packet dropouts. The proportional plus up to the third-order derivative （PD3） compensation strategy is adopted to compensate for control packet dropouts at the actuator by using the past control packets stored in the buffer. Based onthe strategy, a new NCS structure model with packet dropouts is provided, where the packet dropout is assumed to obey the Bernoulli random binary distribution. In terms of the given model, the stochastic optimal control law is proposed. Numerical examples illustrate the effectiveness of the results.

关键词： Networked control systems Packet dropout Stochastic systems Optimal control

Approximate design of optimal tracking controller for time-delay systems

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Chinese Science Bulletin 2006年第17期51卷 2158-2163页

作者： tang gongyou LI Chao ZHAO Yandong College of Information Science and Engineering Ocean University of China Qingdao 266071 China

Successive approximate design of the optimal tracking controller for linear systems with time-delay is developed. By applying the successive approximation theory of differential equations, the two-point boundary value (TPBV) problem with both time-delay and time-advance terms derived from the original optimal tracking control (OTC) problem is transformed into a sequence of linear TPBV prob- lems without delay and advance terms. The solution sequence of the linear TPBV problems uniformly converges to the solution of the original OTC problem The obtained OTC law consists of analytic state feedback terms and a compensation term which is the limit of the adjoint vector sequence. The com- pensation term can be obtained from an iteration formula of adjoint vectors. By using a finite term of the adjoint vector sequence, a suboptimal tracking control law is revealed. Numerical examples show the effectiveness of the algorithm.

关键词：线性系统延时系统最佳跟踪控制逐次近似计算法 TPBV 边界值

Approximate Optimal Tracking Control for Near-Surface AUVs with Wave Disturbances

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Journal of Ocean University of China 2016年第5期15卷 789-798页

作者： YANG Qing SU Hao tang gongyou College of Information Science and Engineering Ocean University of China

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

关键词： trajectory tracked simplified Tracking observer desired transformed successive quadratic coordinate

Estimation Method of State-of-Charge For Lithium-ion Battery Used in Hybrid Electric Vehicles Based on Variable Structure Extended Kalman Filter

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Chinese Journal of Mechanical Engineering 2016年第4期29卷 717-726页

作者： SUN Yong MA Zilin tang gongyou CHEN Zheng ZHANG Nong College of Information Science and Engineering Ocean University of China State Key Laboratory of Automotive Safety and Energy Tsinghua University Faculty of Engineering University of TechnologySydney

Since the main power source of hybrid electric vehicle（HEV） is supplied by the power battery,the predicted performance of power battery,especially the state-of-charge（SOC） estimation has attracted great attention in the area of ***,the value of SOC estimation could not be greatly precise so that the running performance of HEV is greatly affected.A variable structure extended kalman filter（VSEKF）-based estimation method,which could be used to analyze the SOC of lithium-ion battery in the fixed driving condition,is ***,the general lower-order battery equivalent circuit model（GLM）,which includes column accumulation model,open circuit voltage model and the SOC output model,is established,and the off-line and online model parameters are calculated with hybrid pulse power characteristics（HPPC） test ***,a VSEKF estimation method of SOC,which integrates the ampere-hour（Ah） integration method and the extended Kalman filter（EKF） method,is executed with different adaptive weighting coefficients,which are determined according to the different values of open-circuit voltage obtained in the corresponding charging or discharging *** to the experimental analysis,the faster convergence speed and more accurate simulating results could be obtained using the VSEKF method in the running performance of *** error rate of SOC estimation with the VSEKF method is focused in the range of 5% to 10% comparing with the range of 20% to 30% using the EKF method and the Ah integration *** Summary,the accuracy of the SOC estimation in the lithium-ion battery cell and the pack of lithium-ion battery system,which is obtained utilizing the VSEKF method has been significantly improved comparing with the Ah integration method and the EKF *** VSEKF method utilizing in the SOC estimation in the lithium-ion pack of HEV can be widely used in practical driving conditions.

关键词： state of charge estimation hybrid electric vehicle general lower-order model variable structure EKF

Optimal disturbances rejection control for singularly perturbed systems with time-delay

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High Technology Letters 2008年第1期14卷 40-44页

作者：张宝琳 tang gongyou Zhao Yandong College of Science China Jiliang University Hangzhou 310018 P.R.China College of Information Science and Engineering Ocean University of China Qingdao 266100 P.R. China College of Automatic ＆ Electronic Engineering Qingdao Universisty of Science and Technology Qingdao 266071 P. R. China

The optimal control design for singularly perturbed time-delay systems affected by external distur-bances is *** on the decomposition theory of singular perturbation,the system is decom-posed into a fast subsystem without time-delay and a slow time-delay subsystem with *** disturbances rejection control law of the slow subsystem is obtained by using the successive ap-proximation approach(SAA)and feedforward compensation ***,the feedforward and feed-back composite control(FFCC)law for the original problem is *** FFCC law consists of lin-ear analytic terms and a time-delay compensation term which is the limit of the solution sequence of theadjoint vector equations.A disturbance observer is introduced to make the FFCC law physically *** examples show that the proposed algorithm is effective.

关键词： singularly perturbed systems time-delay optimal control feedforwad control successive approximation approach (SAA) disturbances observer

Series-based approximate approach of optimal tracking control for nonlinear systems with time-delay

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Progress in Natural Science:Materials International 2008年第12期18卷 1571-1576页

作者： gongyou tang~a Mingqu Fan~(a,b) a College of Information Science and Engineering,Ocean University of China,Qingdao 266100,China b College of Information and Engineering,Shandong University of Science and Technology,Jinan 250031,China [a]College of Information Science and Engineering Ocean University of China Qingdao 266100 China [b]College of Information and Engineering Shandong University of Science and Technology Jinan 250031 China

The optimal output tracking control (OTC) problem for nonlinear systems with time-delay is *** a series-based approx- imate approach,the original OTC problem is transformed into iteration solving linear two-point boundary value problems without time- *** OTC law obtained consists of analytical linear feedback and feedforward terms and a nonlinear compensation term with an infinite series of the adjoint *** truncating a finite sum of the adjoint vector series,an approximate optimal tracking control law is obtained.A reduced-order reference input observer is constructed to make the feedforward term physically *** exam- ples are used to test the validity of the series-based approximate approach.

关键词： Nonlinear systems Time-delay Tracking control Optimal control Observer

Networked control for offshore platforms with random delay under wave and current forces

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Networked control for offshore platforms with random delay u...