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Guidance, Navigation and Control 2024年第2期4卷 25-46页

作者： Junrui Guo Xiaoyang Gao Tieshan Li School of Automation Engineering University of Electronic Science and Technology of China Chengdu Sichuan 611731P.R.China

This paper proposes an optimal output feedback tracking control scheme of the quadrotor unmanned aerial vehicle(UAV)attitude system with unmeasured angular velocities and model ***,neural network(NN)is used to approximate the model ***,an NN velocity observer is established to estimate the unmeasured angular ***,a quadrotor output feedback attitude optimal tracking controller is designed,which consists of an adaptive controller designed by backstepping method and an optimal compensation term designed by adaptive dynamic *** signals in the closed-loop system are proved to be ***,numerical simulation example shows that the quadrotor attitude tracking scheme is effective and feasible.

关键词： Quadrotor optimal tracking control neural network velocity observer model uncertainties adaptive dynamic programming

H-infinite control for random intermittent actuator fault of discrete systems with model uncertainties 36

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H-infinite control for random intermittent actuator fault of...

Finite-time Stabilization of Fractional-order Systems with model uncertainties and External Disturbances

第36届中国控制会议

作者： Bin Guo Yong Chen Xia Liu School of Energy Science and Engineering University of Electronic Science and Technology of China Institute of Electric Vehicle Driving System and Safety Technology University of Electronic Science and Technology of China School of Electrical Engineering and Electronic Information Xihua University

ISBN: (纸本)9781538629185

In this paper,aiming at a class of systems subject to both state and input uncertainties,in which there is a random intermittent actuator fault,a passive dynamic output feedback fault-tolerant control strategy is *** controller designed in this paper can ensure the stability of fault-free closed-loop system,moreover,can stabilize the closed loop system in finite time and guarantee the system meet H-infinite index when the actuator fault *** stability of the system is proven through Lyapunov *** the numerical simulation results demonstrate the effectiveness of the proposed method.

关键词： Fault-Tolerant Control H-infinite control model uncertainties Intermittent fault Actuator fault

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Finite-time Stabilization of Fractional-order Systems with M...

Stability Analysis of a Class of Stochastic Nonlinear Systems with model uncertainties Based on Neural Networks

第26届中国控制与决策会议

作者： Xiaomin Tian Shumin Fei Lin Chai School of Automation Southeast University

In this paper, a fractional-order sliding mode controller is proposed to realize the finite-time stabilization of fractional order（FO） system. The FO systems are perturbed by model uncertainties and external ***, a new fractional non-singular terminal sliding surface with desired dynamics is proposed. Subsequently, on the basis of Lyapunov function and finite-time control theory, a robust control law is introduced to guarantee the occurrence of the sliding motion in a given time. It demonstrates that reaching and sliding phases both are finitetime convergent. Finally, an example is provided to illustrate the effectiveness of the proposed method.

关键词： Finite-time stabilization Fractional-order system model uncertainties External disturbances

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Stability Analysis of a Class of Stochastic Nonlinear System...

Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

第40届中国控制会议

作者： Gonghao Sun Hanqiao Huang Wei Xiong Meng Wang Yue Zhu School of Marine Science and Technology Northwestern Polytechnical University Unmanned System Research Institute Northwestern Polytechnical University UAV Researc Center Army Aviation Institute Shanghai Aerospace Control Technology Institute

Stochastic uncertainties and model uncertainties are often encountered and usually regarded as one of the most challenges in general practical system control problems. In this paper, we focus on the stability of a class of stochastic nonlinear systems with model uncertainties. A second-order disturbance observer is designed to compensate for system input time-varying disturbances. By using the second order of disturbance observer to measure fitting system input time-varying disturbances, using stochastic control Lyapunov method, the variance of uncertain Wiener noise system design the controller, eventually making system globally asymptotically stable. Simulation results verifies the effectiveness of the method and demonstrated a superior performance of the proposed control scheme in comparison to the other control scheme.

关键词： Wiener noises model uncertainties Disturbance observer RBF neural network

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

Bayesian ensemble methods for predicting ground deformation due to tunnelling with sparse monitoring data

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Underground Space 2024年第3期16卷 79-93页

作者： Zilong Zhang Tingting Zhang Xiaozhou Li Daniel Dias School of Civil Engineering Central South UniversityChangshaHunan 410075China Laboratory 3SR Grenoble Alpes UniversityCNRS UMR 5521Grenoble 38000France

Numerous analytical models have been developed to predict ground deformations induced by tunneling,which is a critical issue in tunnel ***,the accuracy of these predictions is often limited by errors and uncertainties resulting from model selection and parameter fittings,given the paucity of monitoring data in field *** paper proposes a novel approach to estimate tunnelling-induced ground deformations by applying Bayesian model averaging to several representative prediction *** accounting for both model and parameter uncertainties,this approach enables more realistic predictions of ground deformations than individual ***,our results indicate that the Gonzalez-Sagaseta model outperforms other models in predicting ground surface settlements,while the Loganathan-Poulos model is most suitable for predicting subsurface vertical and horizontal ***,our analysis reveals that when monitoring data are sparse,model uncertainties may contribute up to 78.7%of the total ***,obtaining sufficient data for parameter fitting is crucial for accurate *** proposed method in this study offers a more realistic and efficient prediction of tunnelling-induced ground deformations.

关键词： Tunnelling-induced ground deformations Sparse data model uncertainties Bayesian model averaging

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

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Computer modeling in Engineering & Sciences 2024年第11期141卷 1047-1065页

作者： Zhenshuai Wan Longwang Yue Yanfeng Wang Pu Zhao Henan Key Laboratory of Superhard Abrasives and Grinding Equipment Henan University of TechnologyZhengzhou450001China School of Mechanical and Electrical Engineering Henan University of TechnologyZhengzhou450001China

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic *** unfavorable factors adversely affect the control performance of the hydraulic *** various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains *** study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position *** adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying *** on Lyapunov theory,the finite-time convergence of the position tracking errors is ***,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

关键词： Hydraulic actuator back-stepping control adaptive control model uncertainties

Backstepping sliding mode control with self recurrent wavelet neural network observer for a novel coaxial twelve-rotor UAV

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High Technology Letters 2018年第2期24卷 142-148页

作者： Qiao Guanyu Peng Cheng Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 P. R. China University of Chinese Academy of Sciences Beijing 100039 P. R. China

The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties *** the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.

关键词： coaxial twelve-rotor UAV backstepping sliding mode control ( BSMC ) self re-current wavelet neural network (SRWNN) model uncertainties external disturbances

Decentralized adaptive iterative learning control for interconnected systems with uncertainties

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控制理论与应用（英文版） 2012年第4期10卷 490-496页

作者： Lili SUN Tiejun WU Department of Control Science and Engineering Zhejiang University

In many applications, the system dynamics allows the decomposition into lower dimensional subsystems with interconnections among them. This decomposition is motivated by the ease and flexibility of the controller design for each subsystem. In this paper, a decentralized model reference adaptive iterative learning control scheme is developed for interconnected systems with model uncertainties. The interconnections in the dynamic equations of each subsystem are considered with unknown boundaries. The proposed controller of each subsystem depends only on local state variables without any information exchange with other subsystems. The adaptive parameters are updated along iteration axis to com- pensate the interconnections among subsystems. It is shown that by using the proposed decentralized controller, the states of the subsystems can track the desired reference model states iteratively. Simulation results demonstrate that, utilizing the proposed adaptive controller, the tracking error for each subsystem converges along the iteration axis.

关键词： Decentralized control Interconnected system model reference Adaptive iterative learning control model uncertainties