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Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance

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Science China(Information Sciences) 2021年第9期64卷 151-164页

作者： jinpeng yu Peng SHI Xinkai CHEN Guozeng CUI School of Automation Qingdao University School of Electrical and Electronic Engineering The University of Adelaide Department of Electronic and Information Systems Shibaura Institute of Technology School of Electronic and Information Engineering Suzhou University of Science and Technology

This paper investigates the problem of finite-time adaptive output tracking control for strictfeedback nonlinear systems with parametric uncertainties. Command signals and their derivatives are generated by a new command filter based on a second-order finite-time differentiator, which attenuates the chattering phenomenon. The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle. The finite-time adaptive controller is constructed via a backstepping design method, a finite-time command filter, and a modified fractional-order error compensation mechanism. The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system, and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time. Finally, the new design technique is validated in a simulation example of the electromechanical system.

关键词： adaptive control finite-time control command-filtered backstepping immersion and invariance

Barrier Lyapunov Function-Based Finite-Time Dynamic Surface Control for Output-Constrained Nonstrict-Feedback Systems

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Journal of Systems Science & Complexity 2023年第2期36卷 524-539页

作者： yu jinpeng FU Cheng LIU Jiapeng MA yumei The College of Automation Qingdao UniversityQingdao 266003China Shandong Key Laboratory of Industrial Control Technology Qingdao UniversityQingdao 266003China The School of Control Science and Engineering Shandong UniversityJinan 250100China

This paper investigates a finite-time tracking problem for the uncertainty nonlinear systems in nonstrict-feedback form,in which the output signal is restricted in a *** on the barrier Lyapunov function and dynamic surface control scheme,a novel adaptive neural controller is proposed by using the finite-time Lyapunov *** the aforementioned literature on finite time tracking control,the violation of system output constraint is avoided by combining the barrier Lyapunov function method with finite-time *** structural characteristics of neural network is introduced to expand the adaptive neural finite-time backstepping method to the uncertainty nonlinear systems in the non-strict ***,the dynamic surface control is introduced to cope with the problem of“explosion of complexity”inherent in conventional backstepping *** is shown that the designed controller can achieve finite-time tracking control and all the variables in the closed-loop system are bounded with output constraint guaranteed form stability analysis and simulation results.

关键词： Adaptive neural network control explosion of complexity finite-time tracking nonstrictfeedback form

维普期刊数据库

State and parameter identification of linearized water wave equation via adjoint method

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Science China(Information Sciences) 2024年第10期67卷 283-297页

作者： Yang yu Cheng-Zhong XU Hai-Long PEI jinpeng yu School of Automation Qingdao University LAGEP Batiment CPE University Claude Bernard-Lyon 1 School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle SystemSouth China University of Technology

In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Laplace equation. We assume that the wave elevation at two distinct points is the only measurement of water waves. We show that the state and water depth can be reconstructed from this point measurement records. The identification problem is recast as an optimization problem over an infinite-dimensional space. We propose the adjoint method-based identification algorithm to generate an estimated state and water depth. We then performed a numerical simulation to show the effectiveness of our designed algorithm by comparing it with existing studies.

关键词： linearized water wave equation (LWWE) point observation state estimation parameter identification adjoint method numerical simulation

A Novel Partial Decoupling Control for Three-Tank Liquid Level System

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A Novel Partial Decoupling Control for Three-Tank Liquid Lev...

2021中国智能自动化大会(CIAC2021)

作者： Tao Xu Haisheng yu jinpeng yu School of Automation Qingdao University

This work investigates a novel partial decoupled control based on Port-Controlled Hamiltonian(PCH) model for three-tank liquid level system. Different from the traditional decoupling control, which is mainly in frequency domain, the method proposed in this paper is implemented directly in time domain. According to the specific requirements of liquid level system control objectives, partial decoupling control is realized by a simply transform. In order to prove the stability, PCH principle is introduced. The simulation results compared with the traditional PCH method illustrate the good performance of the proposed algorithm.

关键词： Decoupled control Port-controlled Hamiltonian model Liquid level control system

A novel control for a continuous stirred tank reactor

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A novel control for a continuous stirred tank reactor

第40届中国控制会议

作者： Li-Ping Xin Bo yu jinpeng yu Qingdao University of Technology School of Information and Control Engineering Qingdao University School of Automation

Based on Barrier Lyapunov Function（BLF）,an adaptive fuzzy backstepping control is proposed for a continuous reaction stirred reactor（CSTR） with input saturation and output *** is utilized to handle the output constraint problem;the mean value theorem and auxiliary design system are made use of to circumvent the input *** effectiveness of the proposed controller is verified by the simulation results through MATLAB2019.

关键词： continuous stirred tank reactor(CSTR) fuzzy logic adaptive backstepping control Barrier Lyapunov Function(BLF)

Adaptive fuzzy command filtered control with error compensation mechanism for AUVs via backstepping

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Adaptive fuzzy command filtered control with error compensat...

第30届中国控制与决策会议

作者： Yaqiang Hu jinpeng yu Haisheng yu Lin Zhao Cheng Fu School of automation and electrical engineering Qingdao University

In this paper,a command filtering based adaptive fuzzy backstepping method is proposed for autonomous underwater vehicle（AUV） ***,the fuzzy logic systems（FLSs） are used to approximate unknown nonlinear function of AUV systems and the adaptive backstepping is employed to design ***,the command filtered control（CFC） method is utilized to deal with the "explosion of complexity" problem,and the filtering error can be reduced properly by the introduction of error compensation *** constructed controller can make the tracking error converge to a small region of the ***,the simulation results show that the proposed control method can achieve position tracking effectively.

关键词： Fuzzy logic system Command filter Error compensation mechanism AUV

Position Control of Induction Motors via Adaptive Fuzzy Backstepping with Input Saturation

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Position Control of Induction Motors via Adaptive Fuzzy Back...

2015年中国智能自动化学术会议

作者： Wei Li yumei Ma Jinfei yu jinpeng yu Jiapeng Liu College of Automation Engineering Qingdao University Zibo Technician College

This paper focuses on the problem of position tracking control for field-oriented induction motors with input *** the scheme,an adaptive fuzzy control based on backstepping technique is *** logic systems are used to approximate the unknown nonlinearities and the adaptive backstepping control is employed to construct *** proposed adaptive fuzzy controllers guarantee the tracking error converge to a small neighborhood of the *** with the conventional backstepping,the designed fuzzy controllers’ structure is very *** simulation results show that the new controller overcomes the influences of the parameter uncertainties and guarantee a tracking performance.

关键词： Induction motor Fuzzy approximation Adaptive control Backstepping Input saturation

Adaptive Fuzzy Dynamic Surface Control for Induction Motors via Backstepping

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Adaptive Fuzzy Dynamic Surface Control for Induction Motors ...

2015年中国智能自动化学术会议

作者： Fatao Shi yumei Ma Jinfei yu jinpeng yu Ziyang Qu College of Automation Engineering Qingdao University Zibo Technician College

This paper addressed an adaptive fuzzy dynamic surface control(DSC)approach to speed regulation for induction *** logic systems are used to approximate unknown nonlinear functions and the adaptive backstepping method is employed to construct *** incorporating dynamic surface control technique into fuzzy control,we have developed an adaptive backstepping control design for induction *** proposed control method is able to overcome the problem of "explosion of complexity" inherent in the traditional backstepping design by introducing first-order low-pass *** adaptive fuzzy controllers guarantee the speed tracking error converges to a small neighborhood of the *** results illustrate the effectiveness of the proposed approach.

关键词： Induction motors Dynamic surface control Fuzzy control Backstepping

Induction Motor Drive Control for Gantry Robot Position

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Induction Motor Drive Control for Gantry Robot Position

第30届中国控制与决策会议

作者： Bingkun Zhao Haisheng yu jinpeng yu Herong Wu Xudong Liu Xu Xu College of Automation and Electrical Engineering Qingdao University

To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.

关键词： Gantry Robot Induction Motor Backstepping Control Position Control Load Torque Observer