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output constraint Boundary Control of a Flexible Manipulator

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Output Constraint Boundary Control of a Flexible Manipulator

第三十九届中国控制会议

作者： Xiongbin Chen Yilin WU Ruifeng Xu Hongyi Qu Yu Liu Ke Yao School of Automation Science and Engineering South China University of Technology Department of Computer Science Guangdong University of Education

In this paper, in order to suppress the vibration and track the desired angle of a flexible manipulator effected by output constraints and external disturbances, the novel restricted boundary control laws with disturbance observers are *** barrier Lyapunov function is adopted to limit the tracking errors of the angle and the end-point displacement. Disturbance observers are designed to reject external disturbances. For the closed-loop system, the stability is proven. Numerical simulations show the feasibility of the proposed control schemes.

关键词： Distributed parameter system Vibration control output constraint Disturbance observer

Robust Adaptive Control of MIMO Nonlinear Systems with output constraint and Minimum Adjusting Parameters

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Robust Adaptive Control of MIMO Nonlinear Systems with Outpu...

第37届中国控制会议

作者： Heqing Liu Tianping Zhang Meizhen Xia Houbin Qian Department of Automation College of Information EngineeringYangzhou University

In this paper,the problem of robust adaptive control is discussed for a class of multi-input multi-output（MIMO）nonlinear systems with unmodeled dynamics and output *** on modified dynamic surface control（DSC） and the approximation capability of neural networks,the adaptive vector virtual control and control law are designed in recursive each step.A dynamic signal is used to handle unmodeled dynamics in the *** introducing the barrier Lyapunov function（BLF）,the output constraint is not violated in the designed adaptive control *** stability analysis shows that all the signals in the closed-loop control system are semi-globally uniformly ultimately bounded（SGUUB）.Simulation results with the2-DOF robotic system is provided to demonstrate the effectiveness of the proposed control scheme.

关键词： unmodeled dynamics output constraint barrier Lyapunov function(BLF) dynamic surface control(DSC)

Fault estimator-based dynamic surface backstepping fault-tolerant control for a class of nonlinear systems with output constraint

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Fault estimator-based dynamic surface backstepping fault-tol...

第43届中国控制会议

作者： Yue-heng Sun Le Liu Nuan Shao Ying-hao Xie Yi-ming Fang Key Laboratory of Intelligent Rehabilitation and Neromodulation of Hebei Province Yanshan University Department of Environmental Engineering Hebei University of Environmental Engineering

Aiming at the tracking control problem of a class of nonlinear systems with actuator fault and external disturbance,a dynamic surface backstepping control method is proposed based on a fault estimator in this ***,the actuator fault and external disturbance of the systems are treated as a lumped actuator fault disturbance term,and a fault estimator is designed to address this ***,a prescribed performance function is introduced to manage output constraint,even in the presence of entirely unknown initial tracking *** dynamic surface control technique is introduced to address the issue of "differential explosion" in conventional backstepping control and simplify the design process of system *** analysis demonstrates that the closed-loop system exhibits uniformly ultimately bounded stability,and the output remains within the specified ***,the effectiveness of the proposed method was validated using the position tracking control of a permanent magnet synchronous motor as an example.

关键词： Dynamic surface backstepping control Fault-tolerant control output constraint Fault estimation

Robust I＆I Adaptive DSC with Disturbance Observer for Maglev System with output constraint

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Robust I＆I Adaptive DSC with Disturbance Observer for Magle...

第三十九届中国控制会议

作者： Jiaqi Liu Xiangbin Liu Hongye Su School of Electronic and Information Engineering Beijing Jiaotong University Institute of Cyber-System and Control Zhejiang University

This paper proposes a robust immersion and invariance（I＆I） adaptive dynamic surface controller（DSC） with disturbance observer（DO） for the tracking control of uncertain output-constrained maglev system subjected to mismatched disturbance. The uncertain maglev system with output constraint is firstly transformed into an equivalent unconstrained one via a constructive nonlinear mapping. Dynamic surface control（DSC） combined with I＆I adaption law and extended disturbance observer is designed systematically for the transformed system. The proposed control law overcomes the problem of "explosion of complexity" due to the DSC baseline controller. The robust I＆I adaptation law in the control law is developed to recover the unknown parameter of the system, which shapes the dynamics of parameter estimation error and renders the estimation error exponentially converging to a bounded residual set. And the extended disturbance observer is used to handle the time-varying mismatched disturbances in the maglev system. The stability analysis of the overall system shows that all signals of the closedloop system are bounded and output constraint of the system is not violated as well. The numerical simulation results verify the effectiveness of the proposed controller at last.

关键词： Maglev systems output constraint robust I&I adaptive DSC disturbance observer

Observer-based attitude tracking control for near space vehicle with output constraint

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Observer-based attitude tracking control for near space vehi...

第30届中国控制与决策会议

作者： Cui Wang Qiang Zhang Hui Xu School of Electrical Engineering University of Jinan

The paper proposes a backstepping method based on disturbance observer for near space vehicle with output constraints and unknown disturbance.A barrier Lyapupnov function is applied to the design of controllers,which guarantees the output constraint is not ***,nonlinear disturbance observer is used to estimate the unknown *** dynamic surface control is employed to the system,which avoids "explosion of complexity" in traditional ***,the simulation results prove that the control scheme proposed is effective.

关键词： Near space vehicle output constraint Backstepping Nonlinear disturbance observer Dynamic surface control

output feedback stabilization of stochastic high-order planar nonlinear systems with stochastic inverse dynamics and output-constraint

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Science China(Information Sciences) 2024年第3期67卷 182-196页

作者： Ruiming XIE Shengyuan XU School of Automation Nanjing University of Science and Technology

In this paper, we solve the output feedback control problem of stochastic high-order planar nonlinear systems with output constraint and stochastic integral input-to-state stability(SiISS) inverse dynamics. By employing a key coordinate transformation, a stochastic nonlinear system with output constraint and SiISS inverse dynamics is converted into an unconstrained system. By skillfully constructing an observer and adopting SiISS small-gain conditions, we develop a new output feedback control design and analysis method, and prove that all the closed-system signals are bounded almost surely, the output constraint is not violated almost surely, and the equilibrium point of the closed-loop system is stochastically asymptotically stable.

关键词： stochastic high-order planar nonlinear system output constraint stochastic inverse dynamics output feedback stabilization stochastic integral input-to-state stability (SiISS)

Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints

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Science China(Technological Sciences) 2018年第10期61卷 1528-1536页

作者： YANG HongJun LIU JinKun HE Wei State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences School of Automation Science and Electrical Engineering Beihang University School of Automation and Electrical Engineering University of Science and Technology Beijing

The issue of output constraints is studied for a flexible-link manipulator in the presence of unknown spatially distributed disturbances. The manipulator can be taken as an Euler-Bernoulli beam and its dynamic is expressed by partial differential equations. On account of the uncertainty of disturbances, we present a disturbance observer to estimate infinite dimensional disturbances on the beam. The observer is proven exponentially stable. Considering the problem of output constraints in the practical engineering, we propose a novel distributed vibration controller based on the disturbance observer to fulfill the position regulation of the joint angle and suppress elastic deflections on the flexible link, while confining the regulating errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the effectiveness of the design scheme.

关键词： flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system

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Adaptive neural network based boundary control of a flexible marine riser system with output constraints

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Frontiers of Information Technology & Electronic Engineering 2022年第8期23卷 1229-1238页

作者： Chuyang YU Xuyang LOU Yifei MA Qian YE Jinqi ZHANG Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education) Jiangnan UniversityWuxi 214122China College of Internet of Things Technology Wuxi Institute of TechnologyWuxi 214122China Wuxi Good Cloud IoT Technology Co. Ltd.Wuxi 214196China

In this study,we develop an adaptive neural network based boundary control method for a flexible marine riser system with unknown nonlinear disturbances and output constraints to suppress *** begin with describing the dynamic behavior of the riser system using a distributed parameter system with partial differential *** compensate for the effect of nonlinear disturbances,we construct a neural network based boundary controller using a radial basis neural network to reduce *** the proposed boundary controller,the state of the riser is guaranteed to be uniformly bounded based on the Lyapunov *** proposed methodology provides a way to integrate neural networks into boundary control for other flexible robotic manipulator ***,numerical simulations are given to demonstrate the effectiveness of the proposed control method.

关键词： Marine riser system Partial differential equation Neural network output constraint Boundary control Unknown disturbance

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Adaptive Decentralized output-Constrained Control of Single-Bus DC Microgrids

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 424-432页

作者： Jiangkai Peng Bo Fan Jiajun Duan Qinmin Yang Wenxin Liu the Smart Microgrid and Renewable Technology (SMRT) Research Laboratory Department of Electrical and Computer Engineering Lehigh University the State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang University the GEIRI North America

A single-bus DC microgrid can represent a wide range of applications. Control objectives of such systems include high-performance bus voltage regulation and proper load sharing among multiple distributed generators(DGs) under various operating conditions. This paper presents a novel decentralized control algorithm that can guarantee both the transient voltage control performance and realize the predefined load sharing percentages. First, the output-constrained control problem is transformed into an equivalent unconstrained one. Second, a two-step backstepping control algorithm is designed based on the transformed model for bus-voltage regulation. Since the overall control effort can be split proportionally and calculated with locally-measurable signals, decentralized load sharing can be realized. The control design requires neither accurate parameters of the output filters nor load measurement. The stability of the transformed systems under the proposed control algorithm can indirectly guarantee the transient bus voltage performance of the original system. Additionally, the high-performance control design is robust, flexible, and reliable. Switch-level simulations under both normal and fault operating conditions demonstrate the effectiveness of the proposed algorithm.

关键词： DC microgrids decentralized control paralleled converters output constraint

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