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第36届中国控制会议

作者： Chengju LIU Jing NING Jing YANG Qijun CHEN School of Electronics and Information Engineering Tongji University

ISBN: (纸本)9781538629185

Robust motion is of great significance when humanoids are placed in complex and uncertain *** this paper,multitasks are merged in the way of null space projection according to their *** compensation is considered as one task and utilized to reject unknown *** strategies are put forward to restrain the sudden change of *** is to calculate the correction in the joint space with Resolved Momentum Control（RMC） method,the other is to add an end-effector tracking motion in the task *** are designed to test the proposed algorithm with Nao robot in simulation and the results show that the robot is able to rectify itself to the pre-planned steady stance while encountering undefined external forces.

关键词： Humanoid robot momentum compensation disturbance rejection Multi-tasking system

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disturbance rejection Model Predictive Control of Ultra-Supercritical Once-Through Boiler-Turbine Unit

Disturbance Rejection Model Predictive Control of Ultra-Supe...

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第37届中国控制会议

作者： Fan Zhang Yali Xue Donghai Li Jiong Shen State Key Lab of Power System Department of Energy and Power EngineeringTsinghua University Key Lab of Energy Thermal Conversion and Control of Ministry of Education School of Energy and EnvironmentSoutheast University

The regulation of boiler-turbine unit in ultra-supercritical power plant is vulnerable to various unknown *** overcome this issue, this paper proposes the extended state observer based disturbance rejection model predictive control for the boiler-turbine unit. State space model is firstly established on the basis of subspace identification. To enhance the disturbance rejection property of the controller, the technique of extended state observer is employed to estimate the unknown disturbances. The disturbance estimation based model predictive controller is then devised. The observer gain is designed using a less conservative linear matrix inequality, which will accelerate the convergence speed of estimation error. The effectiveness of the proposed controller is illustrated by simulations.

关键词： Model Predictive Control disturbance rejection Extended State Observer Boiler-Turbine Unit

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disturbance rejection in Iron and Steel Process:Problems and Current Solutions

Disturbance Rejection in Iron and Steel Process:Problems and...

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第三十届中国控制会议

作者： WANG Lijun~(1,2),TONG Chaonan~(1,2),LI Qing~(1,2),YIN Yixin~(1,2),GAO Zhiqiang~3 1.School of Automation & Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,P.R.China 2.Key Laboratory of Advanced Control of Iron and Steel Process(Ministry of Education),University of Science and Technology Beijing, Beijing 100083,P.R.China 3.Center for Advanced Control Technologies,Fenn College of Engineering,Cleveland State University,Cleveland,OH 44115,USA

＜正＞It is shown in this paper that the quality of control in iron and steel process,hinges upon how well various disturbances are *** of the disturbances and the current design solutions are presented,together with pending problems. In the evaluation of design options,Active disturbance rejection Control stands out as the most viable solution-in its practicality and the ability to handle both internal and external disturbances in one simple manner.

关键词： Iron and Steel Process disturbance rejection Large Time Delay Decoupling Uncertain

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disturbance rejection with Zero Steady-State Error for Nonlinear Large-Scale Systems

Disturbance Rejection with Zero Steady-State Error for Nonli...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Hong-Wei Gao is with the College of Mechanical and Electronic Engineering,Qingdao Agricultural University,Qingdao,CO 266109,China.DONG Rui was with Department of Mathematics Henan Institute of Science and Technology,Xinxiang CO 453003,China.Juan Li is with the the College of Mechanical and Electronic Engineering,Qingdao Agricultural University,Qingdao,CO 266109,China

The disturbance rejection problem for nonlinear large-scale systems with external persistent disturbances is *** developinp a sensitivity approach and the internal model principle,the problem of disturbance rejection for the original control system is solved by designing an optimal control law for the augmented nonlinear system without *** control law obtained consists of an accurate linear state feedback term,an internal model compensation term and a nonlinear compensation term which is a series sum of the adjoint *** the state feedback term can stabilize the system,the internal model compensation term eliminates the influence of the disturbances,and the last one compensates the influence of the nonlinear interconnected term.A simulation example is employed to test the validity of the algorithm.

关键词： Nonlinear large-scale systems disturbance rejection Internal model control Sensitivity approach

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disturbance rejection Control Based on Linear Quadratic for Nonminimum-phase Hypersonic Flight Vehicle System

Disturbance Rejection Control Based on Linear Quadratic for ...

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作者： Yu-qing LI Fu-yang CHEN Li WANG College of Automation Engineering Nanjing University of Aeronautics and Astronautics NORINCO Group North Information Control Research Academy Group CO. LTD

This paper proposed a disturbance rejection control method based on linear quadratic（LQ） for nonminimum-phase discrete-time systems with unmatched *** introducing a new cost function that considers the influences of disturbance on the input signal,we apply the novel control method to hypersonic flight vehicle（HFV） system to solve the problem of turbulence compensation.A two-component control input is generated through systematic derivation of finite-time LQ optimal control law,improving the stability,output regulation capability,and robustness of the HFV *** analysis under different control schemes in simulation study shows the effectiveness of the proposed method.

关键词： Linear quadratic disturbance rejection Nonminimum-phase system Hypersonic flight vehicle

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disturbance rejection in MEMS Gyroscope:Problems and Solutions

Disturbance Rejection in MEMS Gyroscope:Problems and Solutio...

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第三十届中国控制会议

作者： ZHENG Qing~1,GAO Zhiqiang~2 1.Department of Electrical and Computer Engineering,Gannon University,Erie,PA 16541,USA 2.Department of Electrical and Computer Engineering,Cleveland State University,Cleveland,OH 44115,USA

This paper presents a summary of the recent developments in practical applications of the active disturbance rejection control (ADRC) on MEMS *** are two major control problems associated with vibrational MEMS gyroscopes:to control two vibrating axes(or modes) of the gyroscope,and to estimate a time varying rotation *** paper demonstrates how the novel active disturbance rejection control approach solves these problems in the presence of the mismatch of natural frequencies between two axes, mechanical-thermal noises,Quadrature errors,and parameter *** scope of the ADRC applications on MEMS gyroscopes shown in this paper includes the continuous ADRC for the drive axis,the sense axis,two axes,and rotation rate estimation as well as the discrete ADRC implementation for the drive *** successful results demonstrate that the key problem in MEMS gyroscope is disturbance rejection and the most promising method is ADRC.

关键词： disturbance rejection MEMS Gyroscope Extended State Observer

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Singular linear quadratic performance with the worst disturbance rejection for descriptor systems

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控制理论与应用（英文版） 2006年第3期4卷 277-280页

作者： LICHEN Institute of Statistics and Actuary Shandong Economic University Jinan Shandong 250014 China School of Control Science and Engineering Shandong University Jinan Shandong 250061 China

This paper deals with the problem of singular linear quadratic performance with the worst-disturbance rejection for descriptor systems. Under the conditions we give, the worst-disturbance and the optimal control-state pair are unique respectively, the optimal control can be synthesized as state feedback and the closed-loop system is regular, stable and impulse-free.

关键词： Descriptor systems Singular linear quadratic cost disturbance rejection State feedback

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Global disturbance rejection of Lower Triangular Systems with Unknown Exosystem

Global Disturbance Rejection of Lower Triangular Systems wit...

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第二十七届中国控制会议

作者： Liu Lu Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong,P.R.China

In this paper,we study the global disturbance rejection problem of nonlinear systems in lower triangular form with unknown *** conditions are established *** the convergence problem of an estimated unknown parameter vector to the true parameter vector is ***,the theoretical result is applied to solve the disturbance rejection problem of the controlled uncertain Duffing’s system subject to a sinusoidal disturbance with unknown amplitude and unknown frequency.

关键词： disturbance rejection Nonlinear systems Robust control Adaptive control

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Fuzzy Event-triggered disturbance rejection Control of Nonlinear Systems

Fuzzy Event-triggered Disturbance Rejection Control of Nonli...

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第31届中国过程控制会议（CPCC2020）

作者： Peng Cheng Yanyan Yin Yanqing Liu Feng Pan Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) School of Internet of Things Jiangnan University School of Electrical Engineering Computing and Mathematical SciencesCurtin University

In this paper, we describe a novel method for constructing fuzzy based event-triggered disturbance rejection control for nonlinear systems. A new fuzzy event based anti-disturbance controller is designed and a reduced order disturbance observer is constructed. Sufficient conditions for the closed loop system to be asymptotically stable under an H∞ performance index are derived. Based on these conditions, the design of a fuzzy event-triggered state feedback controller is formulated and *** results are presented to demonstrate the correctness and effectiveness of our theoretical findings.

关键词： Fuzzy system Nonlinear systems Event trigger disturbance rejection Asymptotically stable

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Optimal disturbance rejection Control for a class of Nonlinear System with Control Time-delay by Model Transformation Method 25th

Optimal Disturbance Rejection Control for a class of Nonline...

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第25届中国控制与决策会议

作者： Qing Yang De-Xin Gao Department of Computer Engineering Qingdao Technological University Qindao College College of Automation and Electronic engineer Qingdao University of Science & Technology

ISBN: (纸本)9781467355339

The optimal control problem for nonlinear systems with control time-delay affected by external disturbance is considered. A model transformation is first presented, which transforms the nonlinear system with time-delay into a system without delay formally. To solve the optimal control problem for nonlinear systems with time-delay is transformed into optimal control problem for non-delay nonlinear systems. Based on the optimal control theory, the two-point boundary value （TPBV） problem is constructed. By using the successive approximation approach, the nonlinear optimal control problem is transformed into a sequence of nonhomogeneous linear TPBV problems. we get approximate optimal control law by solving a Riccati matrix equation and two Stein matrix equations using successive approximation method. A simulation example shows that the approximate approach is effective and robust with respect to exogenous persistent disturbances.

关键词： Nonlinear Systems Time-delay systems Non-delay optimal control disturbance rejection

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