检索结果-南通市图书馆

disturbance rejection for Systems With Uncertainties Based on Fixed-Time Equivalent-Input-disturbance Approach

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2384-2395页

作者： Qun Lu Xiang Wu Jinhua She Fanghong Guo Li Yu the School of Aeronautical Engineering Taizhou University the Zhejiang Dafeng Industry Co. Ltd. the Zhejiang Provincial United Key Laboratory of Embedded Systems Zhejiang University of Technology IEEE the School of Engineering Tokyo University of Technology

This paper presents a fixed-time equivalent-inputdisturbance(EID) approach to deal with the problem of robust output-feedback control for perturbed uncertain systems. This method uses the basic structure of the conventional EID approach and treats uncertainties and disturbances as a lumped disturbance on the control-input channel. A fixed-time state observer enables state estimation, which resolves the causality issue in an EID-based control system, is finished in a fixed time. An implicit Lyapunov function, the homogeneity with dilation, the input-tostate stability, and the small-gain theorem are used to analyze the convergence and robustness of the EID-based system with measurement noise. Numerical and experimental results are presented to demonstrate the effectiveness and superiority of the proposed method.

关键词： disturbance rejection equivalent-input-disturbance (EID) approach fixed-time stability measurement noise output feedback control

disturbance rejection Adaptive Control for Atmospheric Effects on Aircraft

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

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

disturbance rejection Based on Momentum Compensation for Humannoid Robots 36

在线全文

学校读者我要写书评

暂无评论

Disturbance Rejection Based on Momentum Compensation for Hum...

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local disturbance rejection

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

来源： cnki会议评论

在线全文

cnki会议

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 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu Jinhua She the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

Adaptive Robust Dead-Zone Compensation Control of Electro-Hydraulic Servo Systems with Load disturbance rejection

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Science & Complexity 2015年第2期28卷 341-359页

作者： HE Yudong WANG Junzheng HAO Renjian Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

A backstepping method based adaptive robust dead-zone compensation controller is pro- posed for the electro-hydraulic servo systems （EHSSs） with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incor- porated in the EH$S without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller （ARC） with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.

关键词： Adaptive robust control dead-zone servo systems tuning method. compensation disturbance rejection electro-hydraulic

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

在线全文

学校读者我要写书评

暂无评论

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

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

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

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

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

在线全文

学校读者我要写书评

暂无评论

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