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Defence Technology（防务技术） 2024年第2期32卷 144-158页

作者： Shusen Yuan Wenxiang Deng Jianyong Yao Guolai Yang School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering *** this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is *** utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is *** unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust *** the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system ***,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering ***,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator *** co-simulations and experiments illustrate the advantages of the proposed approach.

关键词： Bidirectional stabilization system Robust control adaptive control Backlash inverse Disturbance estimation

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

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Defence Technology（防务技术） 2024年第4期34卷 19-28页

作者： Xiang-long Liang Zhi-kai Yao Yao-wen Ge Jian-yong Yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China College of Automation&College of Artificial Intelligence Nanjing University of Post and TelecommunicationNanjing210023China

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange *** considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and *** these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become *** by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical *** approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control *** from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control *** developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output ***,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

关键词： adaptive control Reinforcement learning Uncertain mechanical systems Asymptotic tracking

An adaptive control Strategy for Energy Storage Interface Converter Based on Analogous Virtual Synchronous Generator

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Energy Engineering 2024年第2期121卷 339-358页

作者： Feng Zhao Jinshuo Zhang Xiaoqiang Chen Ying Wang School of Automation and Electrical Engineering Lanzhou Jiaotong UniversityLanzhou730070China

In the DC microgrid,the lack of inertia and damping in power electronic converters results in poor stability of DC bus voltage and low inertia of the DC microgrid during fluctuations in load and photovoltaic *** address this issue,the application of a virtual synchronous generator(VSG)in grid-connected inverters control is referenced and proposes a control strategy called the analogous virtual synchronous generator(AVSG)control strategy for the interface DC/DC converter of the battery in the ***,a flexible parameter adaptive control method is introduced to further enhance the inertial behavior of the AVSG ***,a theoretical analysis is conducted on the various components of the DC microgrid,the structure of analogous virtual synchronous generator,and the control structure’s main parameters related to the DC microgrid’s inertial ***,the voltage change rate tracking coefficient is introduced to adjust the change of the virtual capacitance and damping coefficient flexibility,which further strengthens the inertia trend of the DC ***,a small-signal modeling approach is used to analyze the approximate range of the AVSG’s main parameters ensuring system ***,conduct a simulation analysis by building the model of the DC microgrid system with photovoltaic(PV)and battery energy storage(BES)in MATLAB/*** results from different scenarios have verified that the AVSG control introduces fixed inertia and damping into the droop control of the battery,resulting in a certain level of inertia ***,the additional adaptive control strategy built upon the AVSG control provides better and flexible inertial support for the DC microgrid,further enhances the stability of the DC bus voltage,and has a more positive impact on the battery performance.

关键词： adaptive control analogous virtual synchronous generator DC/DC converter inertia of DC microgrid DC microgrid with PV and BES battery DC bus voltage

adaptive PI control Based Stability Margin Configuration of Aircraft control Systems with Unknown System Parameters and Time Delay

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Journal of Systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： adaptive control aircraft control parameter uncertainty stability margin configuration

adaptive control of Discrete-time Nonlinear Systems Using ITF-ORVFL

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 556-563页

作者： Xiaofei Zhang Hongbin Ma Wenchao Zuo Man Luo School of Automation Beijing Institute of TechnologyBeijing 100081 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China School of Automation Beijing Institute of Technologyand also with the State Key Laboratory of Intelligent Control and Decision of Complex Systems(Beijing Institute of Technology)Beijing 100081China School of Automation Beijing Institute of TechnologyBeijing 100081and he is with Beijing Institute of Electronic System EngineeringBeijing 100854China School of Automation Beijing Institute of TechnologyBeijing 100081and she is with Ant GroupBeijing 310013China

Random vector functional ink(RVFL)networks belong to a class of single hidden layer neural networks in which some parameters are randomly *** network structure in which contains the direct links between inputs and outputs is unique,and stability analysis and real-time performance are two difficulties of the control systems based on neural *** this paper,combining the advantages of RVFL and the ideas of online sequential extreme learning machine(OS-ELM)and initial-training-free online extreme learning machine(ITFOELM),a novel online learning algorithm which is named as initial-training-free online random vector functional link algo rithm(ITF-ORVFL)is investigated for training *** link vector of RVFL network can be analytically determined based on sequentially arriving data by ITF-ORVFL with a high learning speed,and the stability for nonlinear systems based on this learning algorithm is *** experiment results indicate that the proposed ITF-ORVFL is effective in coping with nonparametric uncertainty.

关键词： adaptive control initial-training-free online learning algorithm random vector functional link networks

adaptive control for a Class of Nonlinear Time-Delay System Based on the Fully Actuated System Approaches

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Journal of Systems Science & Complexity 2022年第2期35卷 522-534页

作者： NING Pengju HUA Changchun MENG Rui School of Electrical Engineering Yanshan UniversityQinhuangdao 066004China

This paper focuses on the problem of adaptive control for a class of time-delay ***,the strict feedback nonlinear time-delay system is transformed into a fully actuated system by utilizing the fully actuated system ***,the uncertain time-delay terms of the system are bounded by the product of the absolute value of the system state and the non-linear function with the unknown *** following the high order fully actuated system approaches,a continuous adaptive controller is designed for the *** is proved that the controller can render the system achieve asymptotically ***,two numerical examples are provided to illustrate the effectiveness of the theoretical results.

关键词： adaptive control fully actuated system approaches nonlinear systems time-delay systems

adaptive control With Guaranteed Transient Behavior and Zero Steady-State Error for Systems With Time-Varying Parameters

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1073-1082页

作者： Hefu Ye Yongduan Song Chongqing Key Laboratory of Autonomous Systems Institute of Artificial IntelligenceSchool of AutomationChongqing UniversityChongqing 400044China IEEE

It is nontrivial to achieve global zero-error regulation for uncertain nonlinear *** underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved,yet certain performance specifications are also *** this work,we present an adaptive control method,which,without the persistent excitation(PE)condition,is able to ensure global zero-error regulation with guaranteed output performance for parametric strict-feedback systems involving fast time-varying parameters in the feedback path and input *** development of our control scheme benefits from generalized-dependent and-dependent functions,a novel coordinate transformation and“congelation of variables”*** theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.

关键词： adaptive control global property guaranteed performance uncertain nonlinear systems

Command filter-based I&I adaptive control for MIMO uncertain systems with input saturation and disturbances

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Science China(Information Sciences) 2023年第12期66卷 64-79页

作者： Qi HAN Zhitao LIU Hongye SU Xiangbin LIU State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University School of Electronic Information Engineering Beijing Jiaotong University

This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation, and external disturbance. To avoid the analytic calculation in the backstepping process, a highgain auxiliary system is constructed to compensate for the effect of command filter error. The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors. A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous *** overcome the input saturation nonlinearity, a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law. Stringent analysis guarantees the stability of closed-loop system. Finally, simulated examples confirm the effectiveness of the suggested method.

关键词： adaptive control command filtered backstepping disturbance observer immersion and invariance MIMO systems

A Review on Robust and adaptive control Schemes for Microgrid

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Journal of Modern Power Systems and Clean Energy 2023年第4期11卷 1027-1040页

作者： Swagat Kumar Panda Bidyadhar Subudhi School of Electrical Sciences Indian Institute of Technology GoaGoaIndia

Several challenges are encountered while integrating microgrids(MGs)with an existing utility *** are low inertia,intermittent nature of renewable energy resources(RESs),sensor and actuator faults,unbalanced and nonlinear loads,supply-demand mismatch,and uncertain switching functions of the power electronic *** control is fully dependent on the communication network,which is also susceptible to different types of failures such as noise in communication links,communication delay,limited bandwidth,packet dropout,and various malicious cyber *** few papers are available in the literature that focus on the review of control schemes for ***,this paper presents a comprehensive review of different robust and adaptive control schemes that address the challenges encountered due to communication constraints,uncertainties,and disturbances for different MG topologies such as AC,DC,and hybrid AC/DC MGs,as well as the current research trends in the field of robust and adaptive *** can be concluded that to achieve control objectives of MG and overcome the existing challenges,robust and adaptive controllers show significantly improved performance in terms of transient and steady-state behavior and robustness as compared to traditional controllers.

关键词： Microgrid distributed energy resource robust control adaptive control distributed control

Deep adaptive control with online identification for industrial robots

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Science China(Technological Sciences) 2022年第11期65卷 2593-2604页

作者： SHEN Tan QIAO XueChun DONG YunLong WANG YuRan ZHANG Wei YUAN Ye School of Artificial Inteligence and Automation Huazhong University of Science and TechnologyWuhan 430074China Department of Mechanical and Energy Engineering Southerm University of Science and TechnologyShenzhen 518055China

Derivation of control equations from data is a critical problem in numerous scientific and engineering *** inverse dynamic control of robot manipulators in the field of industrial robot research is a key ***,researchers needed to obtain the robot dynamic model through physical modeling methods before developing ***,the robot dynamic model and suitable control methods are often elusive and difficult to tune,particularly when dealing with real dynamical *** this paper,we combine an enhanced online sparse Bayesian learning(OSBL)algorithm and a model reference adaptive control method to obtain a data-driven modeling and control strategy from data containing noise;this strategy can be applied to dynamical *** particular,we use a sparse Bayesian approach,relying only on some prior knowledge of its physics,to extract an accurate mechanistic model from the measured *** parameters are further identified from the modeling error through a deep neural network(DNN).By combining the identification model with a model reference adaptive control approach,a general deep adaptive control(DAC)method is obtained,which can tolerate unmodeled *** adaptive update law is derived from Lyapunov’s stability criterion,which guarantees the asymptotic stability of the ***,the Enhanced OSBL identification method and DAC scheme are applied on a six-degree-of-freedom industrial robot,and the effectiveness of the proposed method is verified.

关键词： industrial robots sparse Bayesian learning online identification adaptive control