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1.
This paper presents an extended state observer-based output feedback adaptive controller with a continuous LuGre friction compensation for a hydraulic servo control system. A continuous approximation of the LuGre friction model is employed, which preserves the main physical characteristics of the original model without increasing the complexity of the system stability analysis. By this way, continuous friction compensation is used to eliminate the majority of nonlinear dynamics in hydraulic servo system. Besides, with the development of a new parameter adaption law, the problems of parametric uncertainties are overcome so that more accurate friction compensation is realized. For another, the developed adaption law is driven by tracking errors and observation errors simultaneously. Thus, the burden of extended state observer to solve the remaining uncertainties is alleviated greatly and high gain feedback is avoided, which means better tracking performance and robustness are achieved. The designed controller handles not only matched uncertainties but also unmatched dynamics with requiring little system information, more importantly, it is based on output feedback method, in other words, the synthesized controller only relies on input signal and position output signal of the system, which greatly reduces the effects caused by signal pollution, measurement noise and other unexpected dynamics. Lyapunov-based analysis has proved this strategy presents a prescribed tracking transient performance and final tracking accuracy while obtaining asymptotic tracking performance in the presence of parametric uncertainties only. Finally, comparative experiments are conducted on a hydraulic servo platform to verify the high tracking performance of the proposed control strategy. 相似文献
2.
Xi-Sheng Zhan Zhi-Hong Guan Xian-He Zhang Fu-Shun Yuan 《Journal of The Franklin Institute》2013,350(10):3205-3216
The optimal tracking problem for single-input–single-output (SISO) networked control system over a communication channel with packet dropouts is studied in this paper. The tracking performance is measured by the energy of the error signal between the output of the plant and the reference signal. It is shown that the optimal tracking performance is constrained by nonminimum phase zeros, unstable poles, the characteristics of the reference signal and packet dropout probability, and the optimal controller is obtained. It is also shown that when the communication constraint does not exist, the optimal tracking performance reduces to the existing normal tracking performance of the control system without a communication channel. The result shows how the packet dropouts probability of a communication channel may fundamentally constrain a control system's tracking ability. Some typical examples and simulations are given to illustrate the theoretical results. 相似文献
3.
Baoxian Wang Yanli Lv Jigui Jian Xiaowei Jiang 《Journal of The Franklin Institute》2019,356(16):8971-8995
This paper studies the trade-off performance between tracking performance and control input energy of the multi-input multi-output(MIMO), linear and time-invariant(LTI) system over an additive coloured Gaussian noise(ACGN) channel and the encoder-decoder strategies. The restriction that filter in the encoder-decoder strategy must be diagonal matrix is not necessary. And some new results are derived according to the inner-outer factorization. The results show that the trade-off performance is correlated to the unstable pole, non-minimum phase zero of the system. Also new poles and zeros generated by the non-diagonal encoder-decoder strategies may affect the trade-off performance. At last, two examples with different filters and different encoder-decoder strategies are discussed to validate the conclusions. The various encoder-decoder strategies revealed by the simulations may enhance or deteriorate the trade-off performance proposed in this paper. 相似文献
4.
Chao Ai Wei Gao Lijuan Chen Jiawei Guo Xiangdong Kong Andrew Plummer 《Journal of The Franklin Institute》2021,358(1):296-320
The requirement for An electrical grid-connected wind turbine is that the synchronous generator speed is stable within a required speed range for the electrical grid. In this paper, a hydraulic wind turbine (HWT) system is considered, and the working principle and working conditions of the HWT are introduced. A novel speed control method is proposed in this paper, using both a proportional flow control valve and a variable displacement motor, which are adjusted in combination to control the speed of the HWT. By establishing a state space model of the HWT and solving the nonlinear system with a feedback linearization method, a bivariate tracking controller is constructed to realize accurate speed control under fluctuating wind speed and the load disturbance conditions. The effectiveness of the control method is verified by simulation, but experimental results highlight problems with the method. The theoretical controller is simplified to reduce sensitivity to measurement noise and modeling error. The control effect has been improved to some extent, but it is limited. Based on these results, combined with the sliding mode variable structure control method and the feedback linearization method to solve the problem of measurement noise and modeling error, and the effectiveness of the control law is finally verified experimentally. It lays a theoretical foundation for the practical application of HWT. 相似文献
5.
在噪声鲁棒语音识别研究中，使用并行模型结合(parallel model combination, PMC)方法得到的模型理论上能够接近匹配噪声环境模型的性能，故成为噪声鲁棒语音识别的重要研究方向。本文首先提出了一种基于前后向差分动态参数的特征MFCC_FWD_BWD，该特征满足PMC对特征构造矩阵可逆的要求。在此基础上，提出了一种用于PMC的新模型——并行子状态隐马尔可夫模型(parallel sub-state hidden Markov model, PSSHMM)，该模型每个状态包含平行关系的子状态，且子状态间存在转移关系。实验表明，PSSHMM模型在各种噪声和SNR下取得了较好的识别效果，特别是对于非平稳噪声，其鲁棒性能非常显著。 相似文献
6.
《Journal of The Franklin Institute》2019,356(15):8829-8854
The design, tuning, and implementation of controllers are crucial for the solutions to control problems. Generalized minimum variance control (GMVC) has attractive properties and it is widely used for controller performance enhancement. The measured signals of process output variables, which are used as feedback signals, are generally subject to measurement noise. However, the GMVC theory assumes the feedback signals are the process outputs, which rarely consider the unavoidable measurement noise. By additionally considering the measurement noise, the control performance of GMVC with the measurement noise is analyzed in this paper. The dynamic data reconciliation (DDR) method, which uses the information of both the process model and the measurement data to reconcile the measured signals, is introduced. It is combined with GMVC to reduce the effect of the measurement noise on the results of GMVC. The effectiveness of GMVC combined with DDR is illustrated in two case studies, where the proposed method is compared with the original GMVC and the GMVC with the conventional digital filter. The results in both SISO and MIMO control systems show that the proposed GMVC combined with DDR can reduce the effect of the measurement noise and achieve better control performance. 相似文献
7.
Minlin Wang Xuemei Ren Xueming Dong Qiang Chen 《Journal of The Franklin Institute》2019,356(13):6817-6841
In this paper, a novel composite controller is proposed to achieve the prescribed performance of completely tracking errors for a class of uncertain nonlinear systems. The proposed controller contains a feedforward controller and a feedback controller. The feedforward controller is constructed by incorporating the prescribed performance function (PPF) and a state predictor into the neural dynamic surface approach to guarantee the transient and steady-state responses of completely tracking errors within prescribed boundaries. Different from the traditional adaptive laws which are commonly updated by the system tracking error, the state predictor uses the prediction error to update the neural network (NN) weights such that a smooth and fast approximation for the unknown nonlinearity can be obtained without incurring high-frequency oscillations. Since the uncertainties existing in the system may influence the prescribed performance of tracking error and the estimation accuracy of NN, an optimal robust guaranteed cost control (ORGCC) is designed as the feedback controller to make the closed-loop system robustly stable and further guarantee that the system cost function is not more than a specified upper bound. The stabilities of the whole closed-loop control system is certified by the Lyapunov theory. Simulation and experimental results based on a servomechanism are conducted to demonstrate the effectiveness of the proposed method. 相似文献
8.
提出一种分析中继选择反馈错误影响的方法,给出反馈错误与目的节点接收信噪比的近似表达式.基于该表达式,给出数据传输和信息反馈2个阶段的功率分配方案,以最大化数据传输速率的上界.仿真结果显示,所提功率分配方案能够有效提高数据传输速率,且表明有噪反馈下中继数量受到限制. 相似文献
9.
10.
The stochastic minimum-variance pseudo-unbiased reduced-rank estimator (stochastic MV-PURE estimator) has been developed to provide linear estimation with robustness against high noise levels, imperfections in model knowledge, and ill-conditioned systems. In this paper, we investigate the theoretical performance of the stochastic MV-PURE estimator under varying levels of additive noise. We prove that the mean-square-error (MSE) of this estimator in the low signal-to-noise (SNR) region is much smaller than that obtained with its full-rank version, the minimum-variance distortionless estimator, and the gap becomes larger as the noise level increases. These results shed light on the excellent performance of the stochastic MV-PURE estimator in highly noisy settings obtained in simulations so far. Furthermore, we extend previous numerical simulations to show how the insight gained from the results of this paper can be used in practice. 相似文献
11.
Shigen Gao Hairong Dong Bin Ning Hongwei Wang 《Journal of The Franklin Institute》2018,355(13):5452-5474
In this paper, a novel error-driven nonlinear feedback technique is designed for partially constrained errors fuzzy adaptive observer-based dynamic surface control of a class of multiple-input-multiple-output nonlinear systems in the presence of uncertainties and interconnections. There is no requirements that the states are available for the controller design by constructing fuzzy adaptive observer, which can online identify the unmeasurable states using available output information only. By transforming partial tracking errors into new error variables, partially constrained tracking errors can be guaranteed to be confined in pre-specified performance regions. The feature of the error-driven nonlinear feedback technique is that the feedback gain self-adjusts with varying tracking errors, which prevents high-gain chattering with large errors and guarantees disturbance attenuation with small errors. Based on a new non-quadratic Lyapunov function, it is proved that the signals in the resulted closed-loop system are kept bounded. Simulation and comparative results are given to demonstrate the effectiveness of the proposed method. 相似文献
12.
《Journal of The Franklin Institute》2023,360(10):6929-6952
Self-driving vehicles must be equipped with path tracking capability to enable automatic and accurate identification of the reference path. Model Predictive Controller (MPC) is an optimal control method that has received considerable attention for path tracking, attributed to its ability to handle control problems with multiple constraints. However, if the data acquired for determining the reference path is contaminated by non-Gaussian noise and outliers, the tracking performance of MPC would degrades significantly. To this end, Correntropy-based MPC (CMPC) is proposed in this paper to address the issue. Different from the conventional MPC model, the objective of CMPC is constructed using the robust metric Maximum Correntropy Criterion (MCC) to transform the optimization problem of MPC to a non-concave problem with multiple constraints, which is then solved by the Block Coordinate Update (BCU) framework. To find the solution efficiently, the linear inequality constraints of CMPC are relaxed as a penalty term. Furthermore, an iterative algorithm based on Fenchel Conjugate (FC) and the BCU framework is proposed to solve the relaxed optimization problem. It is shown that both objective sequential convergence and iterate sequence convergence are satisfied by the proposed algorithm. Simulation results generated by CarSim show that the proposed CMPC has better performance than conventional MPC in path tracking when noise and outliers exist. 相似文献
13.
在数字通信中，信道的多径传播和衰落特性常在接收端引起码间干扰（ISI）并降低信噪比，严重影响了通信质量。本文研究了空间分集与盲均衡相结合的空间分集均衡技术（SDE），提出了一种基于等增益合并和判决反馈盲均衡的空间分集均衡算法，以克服码间干扰并消除衰落对通信系统所带来的不利影响。通过计算机仿真对空间分集均衡算法和传统盲均衡算法的性能进行了对比，结果表明空间分集均衡技术优于传统的盲均衡技术，提高了数字通信性能。 相似文献
14.
Augmenting feedback control systems with disturbance observer (DOB) is a widely used technique in system design to compensate for the effect of exogenous disturbances as well as plant model uncertainties. In practice, actuator saturation should be taken into account in the design of control systems with DOB. In such cases, we have observed performance degradation due to zero mean measurement noise in the form of tracking loss. This phenomenon has never been reported in DOB literature. This paper reports the phenomenon, analyzes the conditions under which the tracking loss occurs, and also presents design guidelines to avoid the tracking loss. Experimental verification is also provided using a BLDC motor drive testbed. 相似文献
15.
Amer M. Magableh Osamah S. Badarneh Imran Shafique Ansari Taimour Aldalgamouni 《Journal of The Franklin Institute》2018,355(14):6877-6888
Transmit antenna selection with maximal ratio combining at the receiver (TAS/MRC) is a promising technique that can be used to avoid the hardware complexity of multiple input multiple output (MIMO) system without jeopardizing the diversity gain. The generalized Gaussian distribution (GGD) is used to model different kinds of additive noise including Gaussian, Laplacian, uniform, and impulsive. In this paper, we study the bit error performance of TAS/MRC system assuming flat Rayleigh fading channels perturbed by additive white generalized Gaussian noise (AWGGN). To this end, we provide a closed form expression for the average bit error rate of coherent modulation techniques in terms of Mejier’s G function that is readily available in many commercial mathematical software packages like MATLAB and Mathematica. Moreover, we study the asymptotic behavior of the BER at high signal to noise ratio (SNR). Analytical results are verified by simulation. 相似文献
16.
This paper investigates the optimal tracking performance of the multiple-input multiple-output (MIMO) discrete-time networked control systems (NCSs) considering the quantization of communication channel. The tracking performance is adopted for the H2 square error criterion. The optimal tracking performance expression is obtained by using the co-prime factorization, the partial factorization, the inner–outer factorization and the spectral decomposition methods. Moreover, the paper also includes the exploration of the optimal tracking performance with input power constraint. The obtained results have demonstrated that the optimal tracking performance is influenced by the non-minimum phase zeros, unstable poles and their directions, the reference signal and the quantization interval. Moreover the theoretical results have also been proven using a number of different examples. 相似文献
17.
This paper treats the problem of transmitting a Gaussian discrete-time Markov process over a time-discrete additive white Gaussian channel with noiseless feedback which is subjected to statistically unknown jamming noise (satisfying a given power constraint). The channel is used more than once during the interval between the production of successive source letters, and the jamming noise is either allowed to be correlated with the encoder output, or forced to be totally independent of it. The complete solution obtained in the paper under a minimax criterion indicates that the optimum encoder-decoder structures are linear,and the least favorable jamming noise is a Gaussian process. 相似文献
18.
Xi-Sheng Zhan Ling-Li Cheng Jie Wu Huai-Cheng Yan 《Journal of The Franklin Institute》2019,356(12):6401-6418
This paper investigates the modified tracking performance limitation of the networked time-delay systems with two-channel constraints. We consider both the white Gaussian noise and packet dropout constraints in the communication channels. In the plant, the non-minimum phase, unstable poles and time-delay are considered. The modified tracking performance limitation expressions will be achieved using the co-prime factorization and the spectral decomposition technique, and the two-parameter controller is adopted. The results show that the modified tracking performance limitation is related to the intrinsic properties of the given plant, including the non-minimum phase zeroes, the unstable poles and the time-delay. Furthermore, the network communication parameters, e.g. the white Gaussian noise, the packet-dropouts probability and the modified factor affect the modified tracking performance limitation of the networked time-delay systems. Finally, some particular examples are provided to illustrate the efficiency of the proposed method. 相似文献
19.
This paper is concerned with the high performance adaptive robust control problem for an aircraft load emulator (LE). High dynamic capability is a key performance index of load emulator. However, physical load emulators exist a lot of nonlinearities and modeling uncertainties, which are the main obstacles for achieving high performance of load emulator. To handle the modeling uncertainty and achieve adjustable model-based compensation, firstly, the mathematical model of the load emulator is built, and then a nonlinear adaptive robust controller only with output feedback signal is proposed to improve the tracking accuracy and dynamic response capability. The controller is constructed based on the adaptive robust control framework with necessary design modifications required to accommodate uncertainties and nonlinearities of hydraulic load emulator. In this approach, nonlinearities are canceled by output feedback signal; and modeling errors, including parametric uncertainties and uncertain nonlinearities, are dealt with adaptive control and robust control respectively. The resulting controller guarantees a prescribed disturbance attenuation capability in general while achieving asymptotic output tracking in the absence of time-varying uncertainties. Experimental results are obtained to verify the high performance nature of the proposed control strategy, especially the high dynamic capability. 相似文献
20.
S. Pezeshki M.A. Badamchizadeh A.R. Ghiasi S. Ghaemi 《Journal of The Franklin Institute》2019,356(12):5927-5943
This paper studies the problems of stability and H∞ model reference tracking performance for a class of asynchronous switched nonlinear systems with uncertain input delay. First, it is assumed switched controller and corresponding piecewise Lyapunov function are unknown but the derivative of piecewise Lyapunov function has a condition; this condition implies that the nominal system (system without input delay and disturbance) is exponentially stable by any switched controller which satisfies this condition. With this assumption, a proper Lyapunov–Krasovskii functional is constructed. By employing this new functional and average dwell time technique, the delay-dependent input-to-state stability criteria are derived under a certain delay bound; in addition, a mechanism which finds the upper bound of input delay is proposed. Finally, a kind of state feedback control law which fulfils condition of aforesaid piecewise Lyapunov function is introduced to guarantee the input-to-state stability and H∞ model reference tracking performance. Simulation examples are presented to demonstrate the efficacy of results. 相似文献