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Designing Discrete Predictor-Based Controllers for Networked Control systems with Time-varying Delays:Application to A Visual Servo inverted pendulum system

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1763-1777页

作者： Yang Deng Vincent Léchappé Changda Zhang Emmanuel Moulay Dajun Du Franck Plestan Qing-Long Han the Department of Automation Tsinghua UniversityBeijing 100084China the Université de Lyon INSA de LyonECLUniversitéClaude Bernard Lyon 1CNRSAmpèreF-69621VilleurbanneFranc the Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 20072China the XLIM(UMR CNRS 7252) Université de Poitiers11 bd Marie et Pierre Curie86073 Poitiers Cedex 9France IEEE the Nantes Université école Centrale NantesCNRSLS2NUMR 6004F-44000 NantesFrance the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVictoria 3122Australia

A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant delay,which can be potentially applied to vision-based control *** control scheme is composed of a state prediction and a discrete predictor-based *** state prediction is used to compensate for the effect of the sensor-to-controller delay,and the system can be stabilized by the discrete predictor-based ***,it is shown that the control scheme is also robust with respect to slight message ***,the main theoretical results are illustrated by simulation results and experimental results based on a networked visual servo inverted pendulum system.

关键词： Discrete predictor-based control inverted pendulum system networked control system time-varying delay vision-based control

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On stability analysis of nonlinear ADRC-based control system with application to inverted pendulum problems

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Journal of systems Engineering and Electronics 2024年第6期35卷 1563-1573页

作者： LI Jie XIA Yuanqing School of Automation Beijing Institute of TechnologyBeijing 100081China Intelligent Multi-source Sensing and Fusion Innovation Research Center Yangtze Delta Region Academy of Beijing Institute of TechnologyJiaxing 314019China

This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering ***,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is *** the absolute stability is a kind of global stability,Lyapunov stability is further *** local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or *** the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.

关键词： active disturbance rejection control(ADRC) stabi-lity analysis linear matrix inequality(LMI) inverted pendulum system

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Enhanced adaptive nonlinear extended state observer for pure feedback systems with matched and mismatched disturbances

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Control Theory and Technology 2024年第2期22卷 254-268页

作者： Mahtab Delpasand Mohammad Farrokhi School of Electrical Engineering Iran University of Science and TechnologyTehran16846-13114Iran Center of Excellence for Modelling and Control of Complex systems Iran University of Science and TechnologyTehran16846-13114Iran

In this paper, an enhanced adaptive nonlinear extended state observer (EANESO) for single-input single-output pure feedback systems in the presence of external time-varying disturbances is proposed. In this paper, a nonlinear system with matched and mismatched disturbances is considered. The conventional extended state observer (ESO) can only be applied to systems that are in the form of integral chains. Moreover, this method has limitations in the face of mismatched disturbances. In the presence of time-varying disturbances, the traditional ESOs cannot estimate the disturbances accurately. To overcome this limitation, an EANESO is proposed in this paper. The main idea is to design the nonlinear ESO (NESO) to estimate the states of the system and multiple disturbances simultaneously. The observer gains are considered time-varying and adjusted with adaptation laws to improve the estimation accuracy and overcome the peaking phenomenon. Next, the proposed controller is designed based on output feedback to eliminate the effects of multiple disturbances and stabilize the closed-loop system. Subsequently, the stability analysis of the closed-loop system and convergence of the observer error are discussed. Finally, the proposed method is applied to the inverted pendulum system. The simulated results show good performance of the proposed method as compared with a recently published scheme in the related literature.

关键词： Nonlinear extended state observer Enhanced adaptive extended state observer Adaptation law Multiple-channel disturbances inverted pendulum system Time-varying gain

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High order differentials feedback control for inverted pendulum

High order differentials feedback control for inverted pendu...

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第二十三届中国控制会议

作者： Guoyuan Qi, Zengqiang Chen, Zhuzhi Yuan (Department of Automation, TianjinUniversity of Science & Technology, Tianjin 300222, China Department of Automation, Nankai University, Tianjin 300071, China)

＜正＞ This paper presents adaptive high order differentials feedback controller （HODFC） that does not depend on the model for SISO affine system. Through considering the acceleration in equation of angle of pendulum as control input, the inverted pendulum is converted into double nonlinear SISO affine system. The system is successfully stabilized and regulated by using double adaptive HODFC. Numeric simulations show that the adaptive HODFC reaches satisfied effect for the benchmark model, and has robustness for uncertain term.

关键词： inverted pendulum system high order differentiator (HOD) adaptive HODFC robustness.

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The Design of Nonlinear Servo system using Fuzzy Method

The Design of Nonlinear Servo System using Fuzzy Method

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第24届中国控制与决策会议

作者： Mohd Khairi bin Mohamed Nor Shigenori Okubo system and Information Engineering Graduate School of Science and Engineering Yamagata University

In this paper, the design of the nonlinear fuzzy servo system will be discussed. The idea behind of this control method is to divide the operating region of nonlinear servo system into small areas, and treated as a collection of local linear servo systems. The control rule of each local linear servo systems has been calculated using Davison-Smith Method. Fuzzy method has been applied to each local linear servo system and combines it as new control rule. The Lyapunov stability theory is used to develop the bounded condition for the proposed system. The simulation of the inverted pendulum system has been done to illustrate the effectiveness of the proposed method. The result shows that the proposed method can stabilize the system.

关键词： Nonlinear servo system Fuzzy control Davison-Smith method inverted pendulum system

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倒立摆的应用分析控制方法研究

倒立摆的应用分析控制方法研究

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作者： Ibeh Theophilus K 哈尔滨工程大学

学位级别：硕士

This thesis investigates two control methods for the stabilization of an inverted pendulum system, the Fuzzy and *** also addresses some of the potential benefits of using both controllers to control an inverted pendulum system. Considering which technique and control method is best for the control of pendulum angle and the cart's position. The inverted pendulum (IP) represents a classical and challenging control problem;this report explores the use of these methods like the proportional Integral Derivative (PID), for controlling the linear systems of the inverted pendulum which requires the accurate mathematical model of the system of which during the control process the cascade PID method was used. And for the FUZZY logic controller which is an artificial Intelligence (AI), was used for the controlling of the non linear system. The stages of the development of a fuzzy logic controller using a four input Takagi-Sugeno fuzzy model were presented. This paper is to implement and optimize fuzzy logic control algorithms in order to balance the inverted pendulum. A general analysis has been carried out using the matlab simulink on these controllers and they have proven to stabilize the inverted *** a critical assement it was discovered that each have a successful control edge over the other, the fuzzy logic give a more better response to the system based on the specific analysis, like the rise time, settling time, over shoot but yet they both possesses some similar qualities which are also very important in their application methods and theory.

关键词： inverted pendulum system PID control fuzzy control and Linear and Non Linear systems

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