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High dynamic output feedback robust control of cascaded extended state observer

Chinese Journal of Aeronautics 2022年第7期35卷 300-309页

作者： Wenxiang DENG Jianyong YAO Zongxia JIAO Xiaochao LIU School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China the State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

High dynamic tracking performance is a key technical index of hydraulic flight motion simulator(HFMS).However,the strong nonlinearities,various model uncertainties and measurement noise in hydraulic actuation systems limit the high dynamic performance *** this paper,the outer axis frame of a HFMS is taken as a case study and its nonlinear dynamic model with consideration of strong nonlinearities,matched and mismatched uncertainties is established.A novel cascaded extended state observer(ESO)is proposed to estimate the unavailable system states to avoid the adverse effect of measurement noise on control ***,the designed cascaded ESO also produces estimates of matched and mismatched ***,an output feedback robust controller(OFRC)is proposed by integrating the cascaded ESO with a robust integral of the sign of the error(RISE)feedback based on the backstepping *** proposed controller achieves compensation of both matched and mismatched model uncertainties in an output feedback *** analysis indicates that the proposed OFRC ensures the boundedness of all closed-loop system signals in the presence of matched and mismatched timevarying model *** asymptotic tracking performance can also be obtained when the model uncertainties are *** experimental results show that the proposed OFRC achieves significant performance improvement compared with the extensively employed PI control with velocity feedforward(VFPI).

关键词： Flight motion simulator High dynamic tracking Hydraulic actuator Observer Output feedback robust control

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A modified structure internal model robust control method for the integration of active front steering and direct yaw moment control

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Science China(Technological Sciences) 2015年第1期58卷 75-85页

作者： WU Jian ZHAO YouQun JI XueWu LIU YaHui YIN ChengQiang Department of Automotive Engineering College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical and Automotive Engineering Liaocheng University State Key Laboratory of Automotive Safety and Energy Tsinghua University

Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performance and robustness is a key issue to be ***,the H∞method is widely applied to the integrated control of chassis dynamics,but it always sacrifices the performance in order to enhance the *** modified structure internal model robust control(MSIMC)obtained by modifying internal model control(IMC)structure is proposed for the integrated control of AFS and DYC to surmount the conflict between performance and *** lane change(DLC)simulation is developed to compare the performance and the stability of the MSIMC strategy,the PID controller based on the reference vehicle model and the H∞*** results show that the PID controller may oscillate and go into instability in severe driving conditions because of large variations of tire parameters,the H∞controller sacrifices the performance in order to enhance the stability,and only the MSIMC controller can both ensure the robustness and the high performance of the integrated control of AFS and DYC.

关键词： modified structure internal model control robust control chassis integrated control double lane change

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VERTICAL NONCONTACT POSITIONING H_∞ robust control FOR MAGNETICALLY LEVITATED SURFACE MOTOR

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Chinese Journal of Mechanical Engineering 2008年第1期21卷 82-86页

作者： TAO Tao HAO Xiaohong MEI Xuesong JIANG Gedong ZHANG Dongsheng School of Mechanical Engineering Xi＇an Jiaotog University Xi＇an 710049 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

To fulfill the stringent requirement, super-precision positioning and ultra cleanness, a surface motor with the integrated chip fabrication equipment is constructed by using permanent magnets and electromagnet coils as primary actuating components. It consists of stator and mover, and the mover is isolated from the stator by the magnetic beating. The magnetic bearing in the stator is composed of eight air core electromagnet coils, the propulsion in the stator is composed of iron core and electromagnetic coils, and the mover is composed of NdFeB permanent magnets and levitated stage. Based on Lorentz law, some parameters, including permanent magnets dimensions, currents and levitation height, which may affect the stability, are analyzed and optimized. To improve the positioning accuracy in the vertical direction of the magnetic levitation surface motor, a robust controller is proposed using H∞ mixed sensitivity control theory. The simulation results show that by choosing appropriate weight functions, the controller can ensure the robustness of the closed loop system under the presence of uncertainties, and the H∞ robust controller is excellent for reducing steady error and increasing response speed.

关键词： Magnetic levitation Surface motor Ultra-precision positioning robust control

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HYBRID control OF HYDRAULIC PRESS MACHINE BASED ON robust control

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Chinese Journal of Mechanical Engineering 2008年第2期21卷 72-76页

作者： FANG Yu YANG Jian CHAI Xiaodong School of Urban Railway Transportation Shanghai University of Engineering Science Shanghai 201620 China

A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional vatve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.

关键词： robust control Hydraulic press machine Position and speed control

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Flocking of multi-agent system with high frequency feedback robust control

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The Journal of China Universities of Posts and Telecommunications 2019年第4期26卷 43-50页

作者： Zhang Qing Wang Jie Yang Zhengquan Chen Zengqiang College of Science Civil Aviation University of ChinaTianjin 300300China Department of Automation Nankai UniversityTianjin 300071China

Flocking of multi-agent system with high-frequency feedback robust control is put forward in *** controller that has high-frequency feedback robust control is designed;it is proved that the velocity error is bounded and no collision occurs between the multi-agent under the action of the high-frequency feedback robust control by employing the boundedness theorem and the Lyapunov stability *** of multi-agent system can be formed under the action of the high-frequency feedback robust *** of multi-agent system with high-frequency feedback robust control is realized in numerical *** with the state diagram and velocity error diagram of the original flocking of multi-agent system in the simulation,flocking of multi-agent system with high-frequency feedback robust control has better stability.

关键词： flocking multi-agent system high frequency robust control

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Nonlinear Adaptive robust control Design for Static Synchronous Compensator Based on Improved Dynamic Surface Method

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International Journal of Automation and computing 2014年第3期11卷 334-339页

作者： Wen-Lei Li Ming-Ming Li School of Information Science and Engineering Ningbo University

In view of single machine to infinite bus system with static synchronous compensator, which is affected by internal and external disturbances, a nonlinear adaptive robust controller is constructed based on the improved dynamic surface control method(IDSC). Compared with the conventional DSC, the sliding mode control is introduced to the dynamic surface design procedure, and the parameter update laws are designed using the uncertainty equivalence criterions. The IDSC method not only reduces the complexity of the controller but also greatly improves the system robustness, speed and accuracy. The derived controller cannot only attenuate the influences of external disturbances against system output, but also has strong robustness to system parameters variance because the damping coefficient is considered in the internal parameter uncertainty. Simulation result reveals that the designed controller can effectively improve the dynamic performances of the power system.

关键词： Power systems robust control parameter uncertainty disturbance attenuation dynamic surface control(DSC)

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A robust control Strategy to Improve Transient Stability for AC-DC Interconnected Power System with Wind Farms

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CSEE Journal of Power and Energy Systems 2019年第2期5卷 259-265页

作者： Qian Hui Jinlu Yang Xia Yang Zhe Chen Yan Li Yun Teng School of Electrical Engineering Shenyang University of TechnologyShenyang 110870China Department of Energy Technology Aalborg UniversityAalborg 9220Denmark State Grid East Inner Mongolia Electric Power Supply Co.LtdHohhot 010020China

In view of the variable parameters that affect the transient stability of electromagnetic torque and mechanical torque balance in AC-DC system,and the uncertainty of wind power in large-scale interconnection of wind *** paper proposes a linear parameter varying(LPV)robust feedback control method for transient stability of interconnected *** proposed LPV robust feedback control method uses the DC channel power control and the mechanical power in the interconnected system as the control target to improve the transient stability of the interconnected system with wind farm ***,aiming at the strong nonlinear characteristics of the interconnected system,the power balance and the wind power output uncertainty in the transient process,the transient process is designed as a linear model of variable ***,the H∞robust output feedback controller is designed according to the LPV *** transient stability control strategy topology and transfer function of the interconnected system are ***,the proposed scheme is verified by an interconnected system formed by four equal-value grids through AC and DC lines in a digital simulation *** results show that the LPV robust feedback control model proposed in this paper has better response characteristics and transient stability control effects for interconnected systems with wind power weak sendingend system.

关键词： AC/DC transmission interconnected power systems linear parameter varying robust control sending-end system transient stability wind power generation

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Adaptive robust control for an Active Heave Compensation System

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Journal of Shanghai Jiaotong university(Science) 2013年第1期18卷 17-24页

作者：李家旺王旭阳葛彤 Faculty of Maritime Ningbo University School of Naval Architecture Ocean and Civil EngineeringShanghai Jiaotong University

Active heave compensation systems are usually employed in offshore and deep-sea operations to reduce the adverse impact of unexpected vessel’s vertical motion on the response of underwater *** paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator,which is subjected to parametric uncertainties and unmeasured environmental *** observer and discontinuous projection type updating law with bounded adaption rate are presented firstly to estimate the uncertain system *** a similar estimation algorithm is designed by using a multiple delayed version of the system to enhance the performance of parameter observation.A reduced order observer is also introduced to estimate unknown wave *** the obtained uncertainty information,the resulting control development and stability analysis are implemented based on the Lyapunov’s direct method and back-stepping *** proposed controller guarantees the heave compensation error convergent to a bounded neighborhood around the *** illustrate the effectiveness of the proposed control system.

关键词： heave compensation parameter estimation robust control back-stepping

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Event-triggered robust control for networked control systems with actuator failures and time-varying transmission delays

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International Journal of Intelligent Computing and Cybernetics 2015年第2期8卷 172-186页

作者： Peng Pan Shun Jiang Feng Pan Key Laboratory of Advanced Process control for Light Industry(Ministry of Education) Jiangnan UniversityWuxiChina

Purpose–The purpose of this paper is with robust control problem for event-triggered networked control systems(NCSs)with actuator failures and time-varying transmission ***/methodology/approach–A random sequence is introduced to describe the actuator faults,and a novel event-triggering communication scheme is adopted in the sensor-to-controller *** taking the event-triggered mechanism and network transmission delay into consideration,a delay system model is ***–Based on Lyapunov stability theory and free weighting matrix method,the feasibility criteria for co-designing both the controller gain and the trigger parameters are ***,a simulation example is exploited to demonstrate the effectiveness of the proposed linear matrix inequalities(LMIs)***/value–The introduced approach is interesting for NCSs with actuator failures and timevarying transmission delays.

关键词： robust control Networked control Actuator failure Event-triggering scheme

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Adaptive robust control for a Class of Uncertain MIMO Non-affine Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2016年第1期3卷 105-112页

作者： Longsheng Chen Qi Wang College of Aircraft Engineering Nanchang Hangkong University

In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multi-output (MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unknown external disturbance based on backstepping technique. The MIMO non-affine system is first transformed into a time-varying system with strict feedback structure using the mean value theorem, and then the bounded time-varying parameters are estimated by adaptive algorithms with projection. To handle the possible 'controller singularity' problem caused by unknown control direction, a Nussbaum function is employed, and the dynamic surface control (DSC) method is applied to solve the problem of 'explosion of complexity' in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through Lyapunov stability theorem and decoupled backstepping method. Simulation results are presented to illustrate the effectiveness of the proposed control scheme. © 2014 Chinese Association of Automation.

关键词： Adaptive algorithms Backstepping Closed loop control systems Closed loop systems Functions Nonlinear systems robust control Time varying systems Uncertainty analysis

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