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Transactions of Nanjing University of Aeronautics and Astronautics 2007年第1期24卷 8-16页

作者：陈卫东容启亮南京航空航天大学航空宇航学院香港理工大学工业与系统工程学系

A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.

关键词： robust adaptive control tracking control stepping motor torque ripple

robust adaptive control for uncertain nonlinear systems with unknown control directions and actuator nonlinearity

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控制理论与应用（英文版） 2012年第4期10卷 441-450页

作者： Jianhao WANG Jianbo HU Engineering College Air Force Engineering University

A robust adaptive control scheme is proposed for a class of uncertain nonlinear systems in strict feedback form with both unknown control directions and non-symmetric dead-zone nonlinearity based on backstepping design. The conditions that the dead-zone slopes and the boundaries are equal and symmetric are removed by simplifying nonlinear dead-zone input model, the assumption that the priori knowledge of the control directions to be known is eliminated by utilizing Nussbaum-type gain technique and neural networks （NN） approximation capability. The possible controller singularity problem and the effect of dead-zone input nonlinearity are avoided perfectly by combining integral Lyapunov design with sliding mode control strategy. All the signals in the closed-loop system are guaranteed to be semi-globally uniformly ultimately bounded and the tracking error of the system is proven to be converged to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： Uncertain nonlinear system robust adaptive control Actuator nonlinearity Backstepping Sliding modecontrol Dead-zone

robust adaptive control for Mobile Manipulators

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International Journal of Automation and computing 2011年第1期8卷 8-13页

作者： Mohamed Boukattaya Tarak Damak Mohamed Jallouli control of Industrial Process Unit National School of Engineers University of Sfax Intelligent control Design and Optimization of Complex Systems Unit National School of Engineers University of Sfax

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.

关键词： Mobile manipulator trajectory tracking robust adaptive control sliding mode control uncertainties and disturbances.

Variational method based robust adaptive control for a guided spinning rocket

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Chinese Journal of Aeronautics 2021年第3期34卷 164-175页

作者： Zhongjiao Shi Liangyu Zhao Zhijie Liu School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China

In this paper,a robust adaptive controller is designed for a guided spinning rocket,whose dynamics presents the characteristics of pitch-yaw cross coupling,fast time-varying aerodynamics parameters and wide flight ***,a coupled nonlinear six-degree-of-freedom equation of motion for a guided spinning rocket is developed,and the lateral acceleration motion is modeled as a control plant with time-varying matched uncertainties and unmodeled ***,a robust adaptive control method is proposed by combining Bregman divergence and variational method to achieve fast adaption and maintain bounded *** stability of the resulting closed-loop system is proved,and the ultimate bound and convergence rate are also ***,numerical simulations are performed for a single operating point and the whole flight trajectory to show the robustness and adaptability of the proposed method with respect to timevarying uncertainties and unmodeled dynamics.

关键词： Autopilot design Guided spinning rockets robust adaptive control Second-order adaptive law Variational method

Improved robust adaptive control of a Fluidized Bed Combustor for Sewage Sludge

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自动化学报 2005年第4期31卷 562-566页

作者： MENG Hong-Xia JIA Ying-Min The Seventh Research Division Beijing University of Aeronautics and AstronauticsBeijing 100083

This paper presents a robust model reference adaptive control scheme to deal with un-certain time delay in the dynamical model of a ?uidized bed combustor for sewage sludge. Thetheoretical analysis and simulation results show that the proposed scheme can guarantee not onlystability and robustness, but also the adaptive decoupling performance of the system.

关键词： robust adaptive control fluidized bed combustor sewage sludge combustion time delay

Improved robust adaptive control of a Fluidized Bed Combustor for Sewage Sludge

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自动化学报 2005年第4期 70-74页

作者： MENG Hong-Xia JIA Ying-Min(The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083) TheSeventhResearchDivision BeijingUniversityofAeronauticsandAstronauticsBeijing100083

关键词： robust adaptive control ?uidized bed combustor sewage sludge combustion timedelay

A robust adaptive control with unmodeled dynamic for HVDC transmission systems

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Frontiers of Electrical and Electronic Engineering in China 2006年第4期1卷 371-374页

作者： YAN Quan LI Xing-yuan WANG Lu LIU Hong-chao CHEN Shu-heng School of Electrical Engineering and Information Sichuan UniversityChengdu 610065China

Utilizing the feature of quick response of HVDC to improve the performance of AC/DC system has become the emphasis to be *** paper intro-duces firstly the principle of the robust adaptive control of nonlinear systems with unmodeled dynamics,then devel-oped the robust adaptive additional control of HVDC with unmodeled dynamics of generator in order to improve sta-bility of power *** additional control of HVDC with unmodeled dynamics only uses the local signals and its design is simple,furthermore it can obviously improve the stability of power system in different operational *** results using the presented concepts obtained on single machine infinite bus model are also *** results prove the efficiency of the control *** design process of controller provided a new idea to design controller by use of simplified model.

关键词： HVDC unmodeled dynamics robust adaptive control the stability of power system

robust adaptive control of an Uncertain Nonlinear System with Application to Chua’s Circuit

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Robust Adaptive Control of an Uncertain Nonlinear System wit...

Computationally Inexpensive robust adaptive control of Nonlinear Systems

第30届中国控制与决策会议

作者： Zhengqiang Zhang Xue-Jun Xie School of Engineering Qufu Normal University Institute of Automation Qufu Normal University

This paper presents a new approach to tracking control design of nonlinear systems with unknown plant uncertainties and external disturbances.A control algorithms are given to devise robust adaptive controller that asymptotically tracks a given reference *** effectiveness of the proposed control algorithms is demonstrated via the application to nonlinear chaotic Chua’s circuit with control input.

关键词： Nonlinear systems Uncertain systems robust adaptive control Tracking control Chua’s circuit

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Computationally Inexpensive Robust Adaptive Control of Nonli...

Chaos Synchronization of Coupled Map-based Neurons under External Electrical Stimulation via robust adaptive control

第三十九届中国控制会议

作者： Yongcheng Zhou Mingliang Zhou Kai Zhao Long Chen School of Automation Chongqing University School of Computer Science Chongqing University Chongqing and State Key Laboratory of Internet of Things for Smart City Faculty of Science and Technology University of Macau Faculty of Science and Technology University of Macau

For the parametric strict-feedback nonlinear systems in the literature, as the number/dimension of the system parameters increases, a large number of adaptive laws must be designed, which sharply consumes the available computational ***, reducing the number of parameters to be estimated is one of the effective ways for handling such problem. In this paper, a single-parameter-estimation based robust adaptive control scheme is proposed for a class of parametric strict-feedback nonlinear systems. By giving the concept of the maximum value of the norm of the system parameters and estimating such scalar constant（rather than the system parameters themselves）, the developed control ensures that only one parameter needs to be updated online, making the control implementation inexpensive in computation. A simulation example is presented to demonstrate the effectiveness of the proposed scheme.

关键词： robust adaptive control Backstepping One parameter estimation Nonlinear systems

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Chaos Synchronization of Coupled Map-based Neurons under Ext...