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Two-Stage Scheme for disturbance rejection Hovering Control of Underwater Vehicles

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Journal of Shanghai Jiaotong university(Science) 2022年第3期27卷 375-382页

作者：毕安元冯正平朱昱琛邓旭 School of Naval Architecture Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China b.State Key Laboratory of Ocean Engineering Shanghai Jiao Tong UniversityShanghai 200240China

A two-stage model-independent hovering control scheme for underwater vehicles,which are subject to unknown yet constant external disturbance,to eliminate steady-state depth error is ***derivative(PD)state feedback control law is adopted as the ballast mass planner at the first stage for the vehicle to reach both hydrostatic balance and a steady *** residual depth error is then removed by an additional disturbance rejection control at the second *** asymptotic stability of the whole system is guaranteed via Lyapunov *** effectiveness of the proposed scheme is illustrated by the simulation of diving control of an underwater vehicle with hydraulic variable ballast system.

关键词： underwater vehicles hovering control disturbance rejection variable ballast systems Lyapunov stability

disturbance rejection Adaptive Control for Atmospheric Effects on Aircraft

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第6期34卷 637-646页

作者： Wang Xin Chen Xin Wen Liyan College of Automation and Engineering Nanking University of Aeronautics and AstronauticsNanjing 210016P.R.China

disturbance rejection algorithm based on model reference adaptive control(MRAC)augmentation is investigated for uncertain turbulence disturbances.A stable adaptive control scheme is developed based on lower diagonal upper(LDU)decomposition of the high frequency gain matrix,which ensures closed-loop stability and asymptotic output *** the proposed control techniques,the bounded stability is achieved and the controller is able to remain within tight bounds on the matched and unmatched ***,simulation studies of a linearized lateral-directional dynamics model are conducted to demonstrate the performance of the adaptive scheme.

关键词： adaptive control disturbance rejection LDU decomposition tracking performance

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

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Science China(Information Sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control Lipschitz nonlinearity disturbance rejection

Robust disturbance rejection for a fractional-order system based on equivalent-input-disturbance approach

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Science China(Information Sciences) 2018年第7期61卷 200-211页

作者： Ruijuan LIU Jinhua SHE Min WU Fenfang ZHU Zhuoyun NIE School of Applied Mathematics Xiamen University of Technology Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology School of Automation China University of Geosciences School of Information Science and Engineering National Huaqiao University

This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the FO control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.

关键词： fractional-order system disturbance rejection equivalent-input-disturbance uncertain system Lyapunov method state observer stability

Consensus disturbance rejection control of directed multi-agent networks with extended state observer

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Chinese Journal of Aeronautics 2020年第5期33卷 1486-1493页

作者： Shaopan GUO Zhongkui LI Yifeng NIU Lizhen WU State Key Laboratory for Turbulence Complex System Department of Mechanics and Aerospace EngineeringPeking UniversityBeijing 100871China College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed *** on disturbance observers,distributed consensus disturbance rejection protocols are constructed in leaderless and leader-follower consensus *** from the previous related papers,the consensus protocols in this paper are developed in a fully distributed fashion,relying on only the state information of each agent and its *** conditions are provided to guarantee that the asymptotic stability of high-order multi-agent systems can be reached with matched disturbances.

关键词： Adaptive control Consensus control Distributed control disturbance rejection Multi-agent systems

Control of systems with sector-bounded nonlinearities： robust stability and command effort minimization by disturbance rejection

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Control Theory and Technology 2016年第3期14卷 209-223页

作者： Carlo NOVARA Enrico CANUTO Donato CARLUCCI Politecnico di Torino Italy

The paper shows that a control strategy with disturbance rejection is able to reduce the control effort to a minimum, ensuring at the same time a desired performance level. The disturbance to be rejected is completely unknown, except for a sectorial bound. The control unit is endowed with an extended state observer which includes a disturbance dynamics, whose state tracks the unknown disturbance to be rejected. In summary, the novel contributions of the paper are the following. First, we derive a robust stability condition for the proposed control scheme, holding for all the nonlinearities that are bounded by a known （or estimated） maximum slope. Second, we propose a novel approach for designing the observer and state feedback gains, which guarantee robust closed-loop stability. Third, we show that the designed control system yields, with a minimum control effort, the same control performance as a robust state feedback control, which on the contrary may require a larger command activity. Two simulated case studies are presented to show the effectiveness of the proposed approach.

关键词： disturbance rejection extended observer robust stability sector-bounded nonlinear systems

Practical disturbance rejection of a class of nonlinear systems via sampled output

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控制理论与应用（英文版） 2010年第3期8卷 382-389页

作者： Buzhou WU, Zhengtao DING (Control Systems Centre, School of Electrical and Electronic Engineering, University of Manchester, P. O. Box 88, Manchester, M60 1QD, UK) Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Manchester UK

This paper presents a sampled-data control scheme for the disturbance rejection of nonlinear systems in the output feedback form. The continuous-time controller is designed first using a filtered transformation and the internal model technique. Using the emulation approach, the proposed sampled-data control uses the sampled output and a discrete- time implementation of the filter, and the internal model is involved. The proposed control is shown to render the overall system stable in a spirit of fast sampling. In particular, the disturbance is practically rejected in the sense that the ultimate bound of the output is allowed to be arbitrarily small by choosing appropriate gain parameters.

关键词： Sampled-data control disturbance rejection Nonlinear systems

Dynamic disturbance rejection controllers for neutral time delay systems with application to a central heating system

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Science in China(Series F) 2009年第7期52卷 1084-1094页

作者： KOUMBOULIS Fotis N. KOUVAKAS Nikolaos D. PARASKEVOPOULOS Paraskevas N. Department of Automation Halkis Institute of Technology Department of Electrical and Computer Engineering National Technical University of Athens

In the present paper the problem of disturbance rejection of single input-single output neutral time delay systems with multiple measurable disturbances is solved via dynamic controllers. In particular, the general form of the controller matrices is presented, while the necessary and sufficient conditions for the controller to be realizable are offered. The proposed technique is applied to a test case neutral time delay central heating system. In particular, the nonlinear model of the plant and its linearized approximation are presented. Based on the linearized model, a two-stage controller is designed in order to regulate the room temperature and the boiler effluent temperature. The performance of the closed loop system is investigated through computational experiments.

关键词： neutral time delay disturbance rejection measurable disturbances central heating linearization

disturbance rejection in Space Applications:Problems and Solutions 30th

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Disturbance Rejection in Space Applications:Problems and Sol...