检索结果-南通市图书馆

Dynamic Positioning System Design for A Marine Vessel with unknown dynamics Subject to External Disturbances Including Wave Effect

引用

China Ocean Engineering 2020年第5期34卷 651-663页

作者： Alireza HOSSEINNAJAD Mehdi LOUEIPOUR Department of Mechanical Engineering Isfahan University of TechnologyIsfahanIran Research Institute for Subsea Science and Technology Isfahan University of TechnologyIsfahanIran

In this paper, a new control system is proposed for dynamic positioning(DP) of marine vessels with unknown dynamics and subject to external disturbances. The control system is composed of a substructure for wave filtering and state estimation together with a nonlinear PD-type controller. For wave filtering and state estimation, a cascade combination of a modified notch filter and an estimation stage is considered. In estimation stage, a modified extended-state observer(ESO) is proposed to estimate vessel velocities and unknown dynamics. The main advantage of the proposed method is its robustness to model uncertainties and external disturbances and it does not require prior knowledge of vessel model parameters. Besides, the stability of the cascade structure is analyzed and input to state stability(ISS) is guaranteed. Later on, a nonlinear PD-type controller with feedforward of filtered estimated dynamics is utilized. Detailed stability analyses are presented for the closed-loop DP control system and global uniform ultimate boundedness is proved using large scale systems method. Simulations are conducted to evaluate the performance of the proposed method for wave filtering and state estimation and comparisons are made with two conventional methods in terms of estimation accuracy and the presence of uncertainties. Besides, comparisons are made in closed-loop control system to demonstrate the performance of the proposed method compared with conventional methods. The proposed control system results in better performance in the presence of uncertainties,external disturbance and even in transients when the vessel is subjected to sudden changes in environmental disturbances.

关键词： dynamic positioning environmental disturbances marine vessel state estimation unknown dynamics wave filtering

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

An Efficient Neural Network based Tracking Controller for Autonomous Underwater Vehicles Subject to unknown dynamics

An Efficient Neural Network based Tracking Controller for Au...

引用

第26届中国控制与决策会议

作者： Chang-Zhong Pan Simon X.Yang Xu-Zhi Lai Lan Zhou School of Information and Electrical Engineering Hunan University of Science and Technology School of Engineering University of Guelph School of Information Science and Engineering Central South University

This paper proposes an efficient neural network（NN） controller for the tracking control of an autonomous underwater vehicles（AUV） subject to unknown vehicle dynamics and significant uncertainties. The controller is first designed based on the error dynamics by using backstepping technique. Then, the unknown dynamics and uncertainties of the vehicle are handled by introducing a NN with single-layer structure. The design of the NN is based on the vehicle regressor dynamics that expresses the highly nonlinear dynamics in a linear form in terms of the known and unknown dynamic parameters. The big advantage of the proposed tracking controller is that the learning algorithm of the NN is simple and computationally efficient. In addition, the developed controller is capable of compensating bounded unknown disturbances. The tracking errors are proved to uniformly ultimately bounded and converge to a small neighbourhood of the origin. The effectiveness and efficiency of the proposed controller is demonstrated by simulations results.

关键词： Autonomous underwater vehicles Tracking control unknown dynamics Neural network

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Distributed Optimization for High-order Nonlinear Multi-agent Systems with unknown dynamics

Distributed Optimization for High-order Nonlinear Multi-agen...

引用

第37届中国控制会议

作者： Yutao Tang Hao Zhu School of Automation Beijing University of Posts and Telecommunications

In this paper, a distributed optimization problem was investigated for a class of high-order nonlinear multi-agent systems with unknown dynamics. To overcome the difficulties brought by the unknown nonlinearities and also the optimization requirement, we presented an embedded control based design and divided this problem into two simpler ones. By utilizing adaptive rules to deal with these unknown dynamics, we finally proposed two kinds of controllers for agents to drive their outputs to the optimal solution under some mild conditions. The efficacy of these algorithms was verified by a simulation example.

关键词： Distributed optimization unknown dynamics adaptive control embedded design

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Finite-Time Distributed Identification for Nonlinear Interconnected Systems

引用

IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1188-1199页

作者： Farzaneh Tatari Hamidreza Modares Christos Panayiotou Marios Polycarpou Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering University of CyprusNicosia 1678Cyprus IEEE

In this paper,a novel finite-time distributed identification method is introduced for nonlinear interconnected systems.A distributed concurrent learning-based discontinuous gradient descent update law is presented to learn uncertain interconnected subsystems’*** concurrent learning approach continually minimizes the identification error for a batch of previously recorded data collected from each subsystem as well as its neighboring *** state information of neighboring interconnected subsystems is acquired through direct *** overall update laws for all subsystems form coupled continuous-time gradient flow dynamics for which finite-time Lyapunov stability analysis is *** a byproduct of this Lyapunov analysis,easy-to-check rank conditions on data stored in the distributed memories of subsystems are obtained,under which finite-time stability of the distributed identifier is *** rank conditions replace the restrictive persistence of excitation(PE)conditions which are hard and even impossible to achieve and verify for interconnected ***,simulation results verify the effectiveness of the presented distributed method in comparison with the other methods.

关键词： Distributed concurrent learning finite-time identification nonlinear interconnected systems unknown dynamics

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A neuro-observer-based optimal control for nonaffine nonlinear systems with control input saturations

引用

Control Theory and Technology 2021年第2期19卷 283-294页

作者： Behzad Farzanegan Mohsen Zamani Amir Abolfazl Suratgar Mohammad Bagher Menhaj Distributed Intelligent Optimization Research Lab Department of Electrical EngineeringAmirkabir University of TechnologyTehranIran Computational Intelligence Lab Department of Electrical EngineeringAmirkabir University of TechnologyTehranIran The School of Electrical Engineering and Computer Science The University of NewcastleNewcastleAustralia Department of Medical Physics and Engineering Shiraz University of Medical SciencesShirazIran

In this study,an adaptive neuro-observer-based optimal control(ANOPC)policy is introduced for unknown nonaffine nonlinear systems with control input ***–Jacobi–Bellman(HJB)framework is employed to minimize a non-quadratic cost function corresponding to the constrained control *** consists of both analytical and algebraic *** the analytical part,first,an observer-based neural network(NN)approximates uncertain system dynamics,and then another NN structure solves the HJB *** the algebraic part,the optimal control input that does not exceed the saturation bounds is *** weights of two NNs associated with observer and controller are simultaneously updated in an online *** ultimately uniformly boundedness(UUB)of all signals of the whole closed-loop system is ensured through Lyapunov’s direct ***,two numerical examples are provided to confirm the effectiveness of the proposed control strategy.

关键词： Input constraints Optimal control Neural networks Nonaffine nonlinear systems Reinforcement learning unknown dynamics

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

GP-based LMPC for Nonlinear System with Stability Guarantee

GP-based LMPC for Nonlinear System with Stability Guarantee

引用

第32届中国过程控制会议(CPCC2021)

作者： Tongqiang Zhang Shaoyuan Li Yi Zheng Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education of China

The Gaussian process model inferred from the Bayesian framework is a powerful modeling *** provides not only the predictive value,but also the uncertainty measure for the predictive *** this paper,we combine the GP models with LMPC to achieve stable control for system of unknown dynamics,and especially use its capability of uncertainty quantification to assist in the stability guarantee under certain *** reference control law the Lyapunov constraint is designed by approximate numerical computation and imposed conditionally with an infeasible level set of states,to realize stable control according to Lyapunov stability *** the simulation on a chemical process case is executed and the results verify our proposed GP-based LMPC method.

关键词： Gaussian process models unknown dynamics MPC Lyapunov Stability

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：