检索结果-南通市图书馆

anti-disturbance control for Tethered Aircraft System With Deferred Output Constraints

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 474-485页

作者： Mengshi Song Fan Zhang Bingxiao Huang Panfeng Huang the Research Center of Intelligent Robotics the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China IEEE

In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances and deferred output *** of exact initial values,a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is ***,to deal with deferred output constraints,an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov ***,by combining the modified observer and the improved controller,an anti-disturbance control scheme is presented,which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time,and the tethered aircraft tracks the desired trajectory ***,both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.

关键词： anti-disturbance control deferred output constraint extended state observer shifting function tethered aircraft system(TAS)

维普期刊数据库

Distributed cooperative anti-disturbance control of multi-agent systems: an overview

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2017年第11期60卷 77-90页

作者： Wenwu YU He WANG Huifen HONG Guanghui WEN School of Mathematics Southeast University

This paper reviews some main results and recent progress in distributed cooperative anti-disturbance control(DCADC) of multi-agent systems. Compared with anti-disturbance control in single systems, DCADC is more challenging because of the existence of coupling in multi-agent systems and the aim is to design distributed cooperative control based on the local information of each agent. This paper is concerned with some kinds of DCADC methods, such as distributed cooperative variable structure control, distributed cooperative sliding mode control, distributed cooperative disturbance-observer-based control, and distributed cooperative output regulation control approaches. Some future research topics regarding DCADC methods are also pointed out.

关键词： distributed cooperative control anti-disturbance control multi-agent system variable structure control sliding mode control disturbance-observer-based control output regulation

DOB Identification and anti-disturbance control for Hypersonic Flight Vehicle Systems

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

DOB Identification and Anti-Disturbance Control for Hyperson...

第三十九届中国控制会议

作者： Xu Lubing Ye Yangfei Yi Yang Jiangsu Aviation Technical College College of Information Engineering Yangzhou University

In this paper, a novel DOB identification and control algorithm is developed for hypersonic flight vehicle. The DOBC technique is combined with the DNNs Models so as to identify attitude and velocity in the presence of disturbance. By using an adaptive method to adjust the weight matrices and compensate the unknown parameters, the control input is built with the Nussbaum gain matrix and feedback control gain. The stability proof is provided by using Lyapunov method. Finally, the simulation results shows DOBC technique is combined with DNNs models can obtained satisfactory dynamical identification and anti-disturbance performance.

关键词： disturbance-observer-based-control(DOBC) dynamics neural networks(DNNs) hypersonic flight vehicles adaptive control anti-disturbance control

Neural Network Modeling-Based anti-disturbance Tracking control for Hypersonic Flight Vehicle Models 36

在线全文

cnki会议

学校读者我要写书评

暂无评论

Neural Network Modeling-Based Anti-Disturbance Tracking Cont...

第36届中国控制会议

作者： XU Lubing YI Yang SHAO Liren ZHENG Weixing College of Information Engineering Yangzhou University School of Computing Engineering and MathematicsUniversity of Western Sydney

ISBN: (纸本)9781538629185

This paper discusses the novel anti-disturbance control algorithm for hypersonic flight vehicle（HFV） models by using neural network（NN） identifier. Different from those existed anti-disturbance results, the unknown exogenous disturbances in HFV models are assumed to be described by the designed NNs with adjustable parameters. Furthermore, the disturbanceobserver-based-control（DOBC） algorithm with adaptive regulation laws is thus presented to estimate the nonlinear *** integrating the estimated value of disturbances with the PI feedback control input, a composite controller based on convex optimization theory is generated to ensure the satisfactory stability and dynamical tacking convergence of HFV models. Finally,a numerical example for HFV models is included to illustrate the effectiveness of the theoretical results.

关键词： anti-disturbance control hypersonic flight vehicle tracking control neural network identifier disturbance observer

Neural Network Modeling-Based anti-disturbance Tracking control for Complex Systems with Input Saturation

在线全文

cnki会议

学校读者我要写书评

暂无评论

Neural Network Modeling-Based Anti-Disturbance Tracking Cont...

第37届中国控制会议

作者： Liren Shao Yang Yi Bei Liu Weixing Zheng College of Information Engineering Yangzhou University School of Computing Engineering and MathematicsUniversity of Western Sydney

In this paper,the anti-disturbance tracking control arithmetic for a class of MIMO nonlinear systems with input saturation is *** order to better characterize unknown disturbances,the exogenous systems with neural network adjustable parameters are employed and the disturbance-observer-based-control（DOBC） framework is also established with appropriate systematic *** using the polytopic representation of saturation function,and combining the state feedback with the estimates of disturbance,the composite controller is designed to guarantee the tracking error of output can tend to ***,two Lyapunov functions are modelled to proof the related theorem.A simulation example eventually for the A4 D aircraft models is included to explain the effectiveness of the presumptive consequence.

关键词： anti-disturbance control tracking control input saturation recurrent neural networks disturbance observer

Robust anti-disturbance Coordination control for Space Manipulator Systems with Multiple disturbances

在线全文

cnki会议

学校读者我要写书评

暂无评论

Robust Anti-Disturbance Coordination Control for Space Manip...

第37届中国控制会议

作者： Hao Wu Jianzhong Qiao Yicheng Chen Zhenxing Li School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aerospace Intelligent control Laboratory Beijing Advanced Innovation Center for Big Data-based Precision Medicine Beihang University

This paper is concerned with the coordination tracking control for space manipulator system with internal model uncertainties and external environment disturbances.A novel robust anti-disturbance coordination control scheme is proposed to realize feed-forward control of the base satellite attitude and precise trajectory tracking of the *** composite controller is composed of disturbance observer based controller(DOBC),H feedback controller and computed-momentum based reaction compensation(CMRC) controller;where the DOBC estimate and compensate the external disturbances,the Hfeedback controller attenuate the internal model uncertainties,then the computed-momentum based reaction compensation(CMRC) controller is designed as a feed-forward coordination controller to actively anticipate the manipulator reaction and compensate for it in *** simulations are performed on a two-link free-flying space manipulator system to demonstrate the effectiveness and validity of the proposed control scheme.

关键词： anti-disturbance control Attitude coordination control Space manipulator system

Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

在线全文

cnki会议

学校读者我要写书评

暂无评论

Acta Mechanica Sinica 2024年第12期40卷 29-39页

作者： Zijing Li Jinlin Zhang Mengyue Lu Wanchao Chi Chong Zhang Shenghao Zhang Yuzhen Liu Chunbiao Gan State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Tencent Robotics X Tencent Binhai BuildingShenzhen 518054China

In the past few decades,people have been trying to address the issue of walking instability in bipedal robots in uncertain ***,most control methods currently have still failed to achieve robust walking of bipedal robots under uncertain *** research mostly focuses on motion control methods for robots on uneven terrain and under sudden impact forces,with little consideration for the problem of continuous and intense external force disturbances in uncertain *** response to this issue,a disturbance-robust control method based on adaptive feedback compensation is ***,based on the Lagrangian method,the dynamic model of a bipedal robot under different types of external force disturbances was ***,through dynamic analysis,it was observed that classical control methods based on hybrid zero dynamics failed to consider the continuous and significant external force disturbances in uncertain ***,an adaptive feedback compensation controller was designed,and an adaptive parameter adjustment optimization algorithm was proposed based on walking constraints to achieve stable walking of bipedal robots under different external force ***,in numerical simulation experiments,comparative analysis revealed that using only a controller based on hybrid zero dynamics was insufficient to converge the motion of a planar five-link bipedal robot subjected to periodic forces or bounded noise disturbances to a stable *** contrast,in the adaptive feedback compensation control method,the use of an adaptive parameter adjustment optimization algorithm to generate time-varying control parameters successfully achieved stable walking of the robot under these *** indicates the effectiveness of the adaptive parameter adjustment algorithm and the robustness of the adaptive feedback compensation control method.

关键词： Bipedal robot External disturbance Walking stability Adaptive feedback compensation anti-disturbance control

Adaptive control for Permanent Magnet Synchronous Motor Based on disturbance Observer 36

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Adaptive Control for Permanent Magnet Synchronous Motor Base...

第36届中国控制会议

作者： Jun Liu Songyin Cao Yang Yi Yu Fang College of Information Engineering Yangzhou University

ISBN: (纸本)9781538629185

As the main power source of the industrial system,the control accuracy of a motor directly affects the efficient operation of the *** this paper,an adaptive control strategy based on disturbance observer is proposed for a Permanent Magnet Synchronous Motor（PMSM） with multiple ***,the multiple disturbances in a PMSM are divided into the modeled load and the norm bounded disturbance,such as circuit noise,modeling uncertainties and so ***,a disturbance observer is designed to estimate the load,and the adaptive controller is applied to compensate the norm bounded ***,the Lyapunov method is borrowed to prove the stability of the control ***,the simulation results of PMSM control system are given to verify the effectiveness of the proposed method.

关键词： disturbance observer permanent magnet synchronous motor adaptive control anti-disturbance control

Designing fixed-time tracking consensus protocols for networked Euler-Lagrangian systems with directed graphs

在线全文

cnki会议

学校读者我要写书评

暂无评论

Science China(Technological Sciences) 2020年第9期63卷 1846-1853页

作者： YAO LingLing WANG He School of Mathematics Southeast UniversityNanjing210096China College of Engineering and Computer Science Australian National UniversityCanberraACT2601Australia

In this paper, a class of disturbed networked Euler-Lagrangian systems is investigated to track a general virtual signal under a general directed communication network. Firstly, a class of fixed-time distributed observer is constructed to estimate the leader's state. Secondly, a local anti-disturbance tracking control based on the previous distributed observer is proposed for each follower to achieve the tracking consensus in a fixed time. A simulation example is finally conducted to verify the proposed algorithm.

关键词： fixed-time tracking networked Euler-Lagrangian system anti-disturbance control directed network

维普期刊数据库