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ADAPTIVE PRACTICAL OUTPUT MANEUVERING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS

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Journal of Systems Science & Complexity 2007年第1期20卷 75-84页

作者： Chunling WEI yuqiang wu Shumin FEI Instituteof Automation Southeast University Nanjing 210096 China Institute of Automation Qufu Normal University Qufu 273165 China Institute of Automation Southeast University Nanjing 210096 China.

This paper deals with the adaptive practical output maneuvering control problems for a class of nonlinear systems with uncontrollable unstable linearization. The objective is to design a smooth adaptive maneuvering controller to solve the geometric and dynamic tasks with an arbitrary small steady tracking error. The method of adding a power integrator and the robust recursive design technique are employed to force the system output to track a desired path and make the tracking speed to follow a desired speed along the path. An example is considered and simulation results are given. The proposed design procedure can be illustrated by the use of this example.

关键词： Adaptive output maneuvering control adding a power integrator method practical output tracking recursive design technique.

Adaptive stabilization of uncertain nonholonomic systems by output feedback

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控制理论与应用（英文版） 2009年第4期7卷 459-463页

作者： Xiuyun ZHENG yuqiang wu Institute of Automation Qufu Normal University Qufu Shandong 273165 China

The adaptive output feedback control strategy is presented for a class of nonholonomic systems in chained form with nonlinearity uncertainties. A new observer and a filter are introduced for the states and parameter estimation. The proposed control strategies guarantee the convergence of the closed-loop system. The simulation example demonstrates the efficiency of the proposed method.

关键词： Nonholonomic systems Backstepping Switching control strategy Adaptive stabilization

Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts

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控制理论与应用（英文版） 2008年第4期6卷 427-430页

作者： yuqiang wu Xiuyun ZHENG Institute of Automation Qufu Normal University Qufu Shandong 273165 China

This paper investigates the robust stabilization of the nonholonomic control systems with strongly non- linear uncertainties. In order to make the state scaling effective and to prevent the finite time escape phenomenon from happening, the switching control strategy based on the state measurement of the first subsystem is employed to achieve the asymptotic stabilization. The recursive integrator backstepping technique is applied to the design of the robust controller. The simulation example demonstrates the efficiency and robust features of the proposed method.

关键词： Nonholonomic systems with uncertainties Switching control strategy Global asymptotic stabilization

OUTPUT FEEDBACK CONTROL FOR MIMO NONLINEAR SYSTEMS WITH EXOGENOUS SIGNALS

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Journal of Systems Science & Complexity 2006年第2期19卷 274-287页

作者： Ying ZHOU yuqiang wu Research Institute of Automation Southeast University Nanjing 210096 China Institute of Automation Qufu Normal University Qufu 273165 China

The paper addresses the global output tracking of a class of multi-input multi-output （MIMO） nonlinear systems affected by disturbances, which are generated by a known exosystem. An adaptive controller is designed based on the proposed observer and the backstepping approach to asymptotically track arbitrary reference signal and to guarantee the boundedness of all the signals in the closed loop system. Finally, the numerical simulation results illustrate the effectiveness of the ProPosed scheme.

关键词： Backstepping method exogenous signals multi-input multi-output nonlinear output feedback control.

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基于线结构光扫描的工件高精度三维测量方法

武汉工程大学学报 2024年第1期46卷 66-71页

作者：洪汉玉吴裕强叶亮邵洋武汉工程大学电气信息学院湖北武汉430205

为了提高工业中对复杂轮廓工件的测量精度和效率,设计了一套高精度非接触三维测量系统,并提出了一种基于线结构光扫描的工件轮廓三维测量方法。首先,利用高精度相机和三轴移动平台采集线结构光图像。然后,通过基于差分区间的灰度质心算... 详细信息

为了提高工业中对复杂轮廓工件的测量精度和效率,设计了一套高精度非接触三维测量系统,并提出了一种基于线结构光扫描的工件轮廓三维测量方法。首先,利用高精度相机和三轴移动平台采集线结构光图像。然后,通过基于差分区间的灰度质心算法,精确而高效地提取出线结构光中心线,并生成原始点云模型。接着,对采集到的点云数据进行必要的点云滤波和精简预处理。最后,将预处理后的点云数据与CAD模型精确配准,进行工件表面轮廓的测量与误差评定。实验结果表明:测量工件轮廓高度的绝对误差小于0.07 mm,相对误差小于0.5%。所提出的三维测量系统及方法测量误差较低,能够实现工件的高精度三维测量,具有一定的工业应用价值。

关键词：线结构光点云处理三维测量轮廓误差

Robust integral control for a class of nonlinear systems with unknown control coefficients

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控制理论与应用（英文版） 2012年第3期10卷 359-364页

作者： Jiangbo YU Yah ZHAO yuqiang wu School of Automation Southeast University Nanjing Jiangsu 210096 China Institute of Automation Qufu Normal University Qufu Shandong 273165 China

The robust integral control problem is studied for a class of nonlinear systems with input-to-state stable （ISS） unmodeled dynamics in this paper. It does not require a priori knowledge of the control coefficients. Combining the Nussbaum-type gain technique and the backstepping design, we propose a state feedback controller, which could achieve the global asymptotic tracking for any constant reference signal, irrespective of the unmeasured dynamic disturbance. It is shown that the proposed methodology further extends the existing robust nonlinear integral control results. Simulation results verify the correctness of the theoretical analysis.

关键词： Nonlinear systems ISS Dynamic uncertainty Unknown control coefficients Set-point tracking

Asymptotic regulation of cascade systems with unknown control directions and nonlinear parameterization

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控制理论与应用（英文版） 2009年第1期7卷 51-56页

作者： Qiangde WANG Chunling WEI yuqiang wu College of Electricity Information and Automation Qufu Normal University Rizhao Shandong 276826 China

A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.

关键词： Nonlinear systems Robust control Partial-state feedback Smooth regulator

Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2197-2199页

作者： Zhongcai Zhang Linran Tian Heng Su yuqiang wu School of Engineering Qufu Normal UniversityRizhao 276826China

Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a nonlinear cascade system with a minimum phase. Then, the stabilization of the cascade system is further processed into an equivalent stabilization of a reduced-order nonholonomic-like system. A discontinuous stabilization control method is proposed through a combination of state-scaling and state-dependent function transformations, nonlinear filters, and switching technologies. Stability analysis demonstrates that under the newly designed stabilization controller, the closed-loop system states are bounded and the desired state constraints are not violated.

关键词： stabilization system nonlinear

Adaptive Control for a Class of Time-delay Nonlinear Systems with Unknown Control Coefficients 25th

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Adaptive Control for a Class of Time-delay Nonlinear Systems...