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2012 Conference on modelling, Identification and Control (MIC2012)

作者： Jing Ma Renhua Zhang Northwestern Polytechnical University

The state parameter and work state of Aero-engine in the whole flight envelope are change *** the controller should deal with parameter perturbation,disturbance and the change of external *** this paper the neural network sliding mode variable structure decoupling controller based on model reference adaptive for the aero-engine is *** neural network is used as the output of the sliding mode control,and sliding mode switching function is used as the neural network *** weight of RBF network is adjusted adaptively by the error between reference model output and actual *** results of simulation show that model reference adaptive Neural Sliding Mode Controller(MRANBSMC) has a good control effect in the whole flight *** eliminates the chattering phenomenon effectively and decouples well,which has a good robustness and control tracking performance in the disturbance and parameter perturbation.

关键词： aero-engine model reference adaptive Sliding Mode variable structure decoupling

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adaptive uncertainty and disturbance estimator based model reference adaptive dynamic sliding mode control for overhead cranes

Adaptive uncertainty and disturbance estimator based model r...

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第40届中国控制会议

作者： Qiang Hu Weimin Xu Xianxian Xu Zhiteng You Xinlei Zhu Key of laboratory of marine technology and control engineering Ministry of communicationsShanghai Maritime university

This paper proposes a model reference adaptive dynamic sliding mode control（MRASMC） scheme with an adaptive uncertainty and disturbance estimator（AUDE）, the scheme is then applied to two-dimensional overhead cranes control with uncertainties, to ensure the payload can be transported to the desired position rapidly while its swing angle can be eliminated simultaneously. Firstly, a desired reference model for improving transient performance is designed. More specifically, a novel chattering-free reaching law along with adaptive integral sliding mode surface is designed to achieve fast convergence of system state variable errors, thereby improving system transient performance. In addition, the designed novel moving sliding mode surface can adjust its slope in real time according to the state variable errors. Moreover, to suppress the uncertainties occurring in overhead cranes system, such as matched disturbances, unmatched disturbances. An adaptive uncertainty and disturbance estimator（AUDE） technique is employed to estimate these disturbances, then the estimated disturbances are taken as feedforward control term to overcome the chattering phenomenon. The stability and convergence of the control system is strictly analyzed using Lyapunov theory. Simulation results are presented to illustrate the effectiveness of the proposed controller.

关键词： overhead crane model reference adaptive adaptive integral sliding mode surface chattering-free reaching law moving sliding mode surface adaptive uncertainty and disturbance estimator unmatched disturbance

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The SVM-DTC System of the Bearingless Induction Motor Based on model reference adaptive

The SVM-DTC System of the Bearingless Induction Motor Based ...

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第三十届中国控制会议

作者： SUN Yuxin,MAO Yanqing,LIU Xianxing,WANG Zhengqi School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,P.R.China

＜正＞Considering the need of speed sensorless operation for bearingless induction motor,the model reference adaptive method which takes reactive power as reference quantity is used to identify speed for the SVM-DTC system of the bearingless induction *** method eliminates the influences of pure integration and rotor *** results show that model reference adaptive control using reactive power as reference quantity can realize the stable suspension and rotation without speed sensor for the bearingless induction motor under the condition of heavy load *** speed recognition has high accuracy,and the whole control system has good static and dynamic performance.

关键词： Bearingless induction motor model reference adaptive Space vector modulation Speed sensorless

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adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

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维普期刊数据库

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Dynamic control for the feed system of a robotic drilling end-effector

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High Technology Letters 2021年第4期27卷 408-414页

作者： Zhang Laixi Zhao Chenming Wu Mingliang School of Mechanical and Electronical Engineering Lanzhou University of TechnologyLanzhou 730050P.R.China

Robotic drilling technology for aircraft flexible assembly is challenging and is under active *** this work,a feed system for robotic drilling end-effector is *** control algorithms with different computational complexity are proposed and *** on reduced-order state observer,a pole placement controller is proposed firstly,and then a model reference adaptive controller is *** experiment platform is established in Matlab xPC environment to validate the effect of the two *** experiment results show that the model reference adaptive controller delivers a higher tracking accuracy after the adaptive transient procedure than the pole placement controller does.

关键词： robotic drilling feeding system pole-placement model reference adaptive

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维普期刊数据库

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Dynamic Quality Identification and Design of μ Synthesis Control for PMSLS

Dynamic Quality Identification and Design of μ Synthesis Co...

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2010 Chinese Control and Decision Conference

作者： Tong Wang,Chunfang Liu School of Electrical Engineering,Shenyang University of Technology,Shenyang,110870

＜正＞For the characteristic of high precision micro-feed and super low speed permanent magnet linear synchronous servo system（PMSLS）suffering from the effect of load disturbances and parameter variations,the H∞controller design methodology is combined with D-K iteration inμsynthesis to design aμsynthesis ***μsynthesis controller is better in robustness against load disturbances and parameter *** order to compensate friction disturbance and increase robustness,the dynamic quality is identified on-line based on model reference adaptive *** to Simulation result,the proposedμsynthesis controller meets the requirement of the robustness and rapidity for PMSLS, and the system has high steady state precision.

关键词： Linear servo system Dynamic quality model reference adaptive Robust control μsynthesis control

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