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第40届中国控制会议

作者： Xueying Lu Huazhou Hou Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

The balance control problem of disturbed inverted pendulum systems is *** of the existing advanced control methods for disturbed inverted pendulum systems are developed only to suppress constant or bounded *** results in a degradation of system performance when meeting severe *** this end,a finite-time disturbance observer is developed to estimate time-varying ***,an integral terminal sliding mode controller is designed for the inverted pendulum *** on the finite-time disturbance observer and the integral terminal sliding mode technique,a composite controller with finite-time convergence is proposed,which rejects the time-varying disturbances and alleviates the *** simulation results on the inverted pendulum system are presented to demonstrate the advantage and effectiveness of the proposed method.

关键词： Anti-disturbance finite-time disturbance observer Integral Terminal Sliding Mode Control

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disturbance rejection and performance enhancement of perturbed tri-stable energy harvesters by adaptive finite-time disturbance observer

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Acta Mechanica Sinica 2022年第8期38卷 132-148页

作者： Shitong Fang Naser Padar Mohammad Javad Mirzaei Shengxi Zhou Wei-Hsin Liao Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong Kong999077China Department of Electrical Engineering Amirkabir University of TechnologyTehran15875-4413Iran Faculty of Electrical and Computer Engineering University of TabrizTabriz516661-6471Iran Research&Development Institute in Shenzhen Northwestern Polytechnical UniversityShenzhen518057China

Tristable energy harvesters(TEHs)have been proposed to achieve broad frequency bandwidth and superior low-frequency energy harvesting ***,due to the coexistence of three potential wells and the sensitivity to system conditions and external disturbances,the desired high-amplitude inter-well oscillation in the TEHs may be replaced by the chaotic or intra-well oscillations with inferior energy ***,the chaos has an unpredictable trajectory and may cause system damages,lessen the structural durability as well as require a more complicated circuit for power ***,in this paper,we firstly propose an adaptive finite-time disturbance observer(AFTDO)for performance enhancement of TEHs by detecting the external disturbances that induce the chaos,and reject them for the recovery of the desired inter-well *** proposed AFTDO eliminates the need to know in advance the upper bounds of imposed perturbations in conventional observers by means of the proposed adaptive protocols,leading to the higher efficacy of *** mathematical model of the piezoelectric TEH system and the AFTDO is *** demonstrate the effectiveness of the AFTDO,a series of numerical simulations have been *** show that for both cases with sinusoidal and impulsive disturbances,the AFTDO can successfully track the trajectories of the disturbance signals with the adaptive gain,and reject the disturbance to enable the TEH to sustain the periodic inter-well oscillation with effective energy harvesting performance.

关键词： Tristable energy harvesters finite-time disturbance observer Sinusoidal and impulsive disturbances Chaos Inter-well oscillation

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Quasi-synchronous control of uncertain multiple electrohydraulic systems with prescribed performance constraint and input saturation

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Chinese Journal of Aeronautics 2023年第9期36卷 416-425页

作者： Shuai LI Qing GUO Yan SHI Yao YAN Dan JIANG School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu 611731China

This article focuses on the high accuracy quasi-synchronous control issue of multiple electrohydraulic systems(MEHS).In order to overcome the negative effects of parameter uncertainty and external load interference of MEHS,a kind of finite-time disturbance observer(FTDO)via terminal sliding mode method is constructed based on the MEHS model to achieve fast and accuracy estimation and compensation *** avoid the differential explosion in backstepping iteration,the dynamic surface control is used in this paper to guarantee the follower electrohydraulic nodes synchronize to the leader motion with a better ***,a timevarying barrier Lyapunov function(tvBLF)is adopted during the controller design process to constraint the output tracking error of MEHS in a prescribed performance with time-varying exponential *** the initial state condition is relax by tvBLF,the input saturation law is also adopted during the controller design process in this paper to restrain the surges of input signals,which can avoid the circuit and mechanical structure damage caused by the volatile input *** MEHS experimental bench is constructed to verify the effectiveness of the theoretical conclusions proposed in this paper and the advantages of the proposed conclusions in this paper are illustrated by a series of contradistinctive experimental results.

关键词： Backstepping Dynamic surface finite-time disturbance observer Input saturation Multiple Electrohydraulic Systems Output error constraint Quasi-synchronous control

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finite-time Attitude Coordinated Control for Spacecraft Formation Flying Using Consensus Algorithm

Finite-time Attitude Coordinated Control for Spacecraft Form...

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第40届中国控制会议

作者： Xiong Xie Tao Sheng Zhijun Chen Liang He College of Aerospace Science and Engineering National University of Defense Technology

For the spacecraft formation flying system with unknown external disturbances and model uncertainties, a finite-time attitude coordinated control law is proposed based on consensus theory. Firstly, a disturbance observer is developed to estimate generalized disturbances consisting of external disturbances and model uncertainties, which can guarantee the estimation errors to converge to zero in finite time. Secondly, a novel nonsingular fast terminal sliding mode attitude cooperative controller based on the finite-time disturbance observer is designed to ensure that the attitude errors of the system converge to zero in finite ***, simulation results are come out to demonstrate the effectiveness of the proposed control law.

关键词： Spacecraft formation flying finite-time disturbance observer finite-time control Attitude cooperative control Terminal sliding mode control

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Continuous Integral Terminal Sliding Mode Control for a Class of Uncertain Nonlinear Systems

Continuous Integral Terminal Sliding Mode Control for a Clas...

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第37届中国控制会议

作者： Huawei Niu Qixun Lan School of Mathematics Pingdingshan Institute of Education School of Mathematics and Physics Henan University of Urban Construction

In this paper,the continuous integral terminal sliding mode control problems for a class of uncertain nonlinear systems is *** of all,based on homogeneous system theory,a global finite-time control（FTC） law with simple structure is proposed for a chain of ***,inspired by the proposed FTC law,a novel integral terminal sliding mode surface is designed,based on which an integral terminal sliding mode control（ITSMC） law is constructed for a class of higher-order nonlinear systems subjected to ***,a finite-time disturbance observer based ITSMC law is proposed,strict theoretical analysis shows that the composite ITSMC approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of ITSMC.A simulation example is given to illustrate the simplicity of the new design approach and effectiveness.

关键词： Integral terminal sliding mode Homogeneous systems finite-time control finite-time disturbance observer

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