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Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems

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IEEE/CAA Journal of Automatica Sinica 2018年第3期5卷 683-690页

作者： Menghua Zhang Xin Ma Rui Song Xuewen Rong Guohui Tian Xincheng Tian Yibin Li School of Control Science and Engineering Shandong University

In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is *** lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.

关键词： Adaptability adaptive proportional-derivative sliding mode control(APD-SMC) coupling behavior La Salle’s invariance theorem lyapunov techniques robustness underactuated overhead crane

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A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation Systems 36

A Novel Nonlinear Backstepping-Based Control Approach for Qu...

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第36届中国控制会议

作者： Xiao Liang Yongchun Fang Ning Sun Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle(UAV) transportation *** proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination ***, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by lyapunov techniques and La Salle’s invariance theorem. Simulation results demonstrate the proposed control law’s superior performance and good robustness against various uncertainties.

关键词： Quadrotor UAV Transportation Systems Backstepping-Based Control lyapunov techniques La Salle’s Invariance Theorem

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Boundary Multi-Mode Observer for Aw-Rascle-Zhang Traffic Flow Model

Boundary Multi-Mode Observer for Aw-Rascle-Zhang Traffic Flo...

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第37届中国控制会议

作者： Ruiying Qi Jianru Hao Liguo Zhang School of Electronic Information and Control Engineering Beijing University of Technology Key Laboratory of Computational Intelligence and Intelligent Systems

With the development of traffic detection technology,spatially discrete traffic data（eg,cross-sectional data） have been transformed to spatially continuous data（eg,trajectory data,images,etc.）.In this paper,a continuous multi-mode boundary observer based on Aw-Rascle-Zhang（ARZ） model is designed for continuous measured data and applied to actual road traffic state *** consider both static and dynamic boundary controls for the observer *** means of lyapunov based techniques,we derive some sufficient conditions for the observer using only the information from the boundary *** the multi-mode filter method,we employ the linear free-flow observers and congested observers to approach the quasi-linear ARZ *** that,the state estimates obtained from the different models are fused according to weights,and the fused state is then used as the initial value of PDEs for the next period.A freeway link of Interstate 80 in Emeryville,California is chosen to investigate the performance of the developed observer and multi-mode filter approach.

关键词： ARZ model Hyperbolic System Boundary Observer lyapunov techniques Multi-Mode

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