共查询到20条相似文献，搜索用时 218 毫秒
1.
R. Sakthivel R. Sakthivel V. Nithya P. Selvaraj O.M. Kwon 《Journal of The Franklin Institute》2018,355(14):6353-6370
This paper studies the robust stochastic stabilization problem for a class of fuzzy Markovian jump systems with time-varying delay and external disturbances via sliding mode control scheme. Based on the equivalent-input-disturbance (EID) approach, an online disturbance estimator is implemented to reject the unknown disturbance effect on the considered system. Specifically, to obtain exact EID estimation Luenberger fuzzy state observer and a low-pass filter incorporated to the closed-loop system. Moreover, novel fuzzy EID-based sliding mode control law is constructed to ensure the stability of the closed-loop system with satisfactory disturbance rejection performance. By employing Lyapunov stability theory and some integral inequalities, a new set of delay-dependent robust stability conditions is derived in terms of linear matrix inequalities (LMIs). The resulting LMI is used to find the gains of the state-feedback controller and the state observer a for the resulting closed-loop system. At last, numerical simulations based on the single-link arm robot model are provided to illustrate the proposed design technique. 相似文献
2.
A feedback controller based on an infinite dimensional observer is proposed to solve the synchronous control problem of network wave equations with time-varying and general perturbations at the boundary. An agent in the network as a virtual leader, and all remaining agents need to incrementally track the status of the virtual leader and each agent is controlled by the Neumann-type drive through the boundary. In this paper, by adopting the idea of the active disturbance rejection control (ADRC) technology, the design of the synchronous controller is divided into three parts and has various functions in this paper. Firstly, it compensates the total disturbance asymptotically. Secondly, it ensures the asymptotic convergence between the network state and the virtual leader state to track the virtual leader. Finally, it ensures that the paired states are synchronized. The convergence of infinite dimensional systems and the suitability of closed-loop systems are analyzed and proved. Three network wave equations with disturbance observer feedback control are simulated numerically, and the simulation results show the effectiveness of the proposed method. 相似文献
3.
This paper presents a disturbance rejection method for time-delay systems. The configuration of the control system is constructed based on the equivalent-input-disturbance (EID) approach. A modified state observer is applied to reconstruct the state of the time-delay plant. A disturbance estimator is designed to actively compensate for the disturbances. Under such a construction of the system, both matched and unmatched disturbances are rejected effectively without requiring any prior knowledge of the disturbance or inverse dynamics of the plant. The presentation of the closed-loop system is derived for the stability analysis and controller design. Simulation results demonstrate the validity and superiority of the proposed method. 相似文献
4.
《Journal of The Franklin Institute》2022,359(2):1605-1625
This paper deals with the exponential stabilization of first order ODE-transport PDE coupled at the boundary point. A state feedback boundary control law has been formulated with the help of the backstepping method. The main novelty of this paper is that the stabilization of the coupled system is discussed by Lyapunov theory and the appropriate observer gain is designed by using the linear matrix inequalities (LMIs). An anti-collocated observer design for the corresponding dual system is also presented. The state feedback boundary controller, observer design and the stabilization of the closed-loop system are discussed in detail with illustrative numerical examples. 相似文献
5.
In this paper, we consider output tracking for a class of MIMO nonlinear systems which are composed of coupled subsystems with vast mismatched uncertainties. First, all uncertainties influencing the performance of controlled outputs, which include internal unmodelled dynamics, external disturbances, and uncertain nonlinear interactions between subsystems, are refined into the total disturbance in the control channels of subsystems. The total disturbance is shown to be sufficiently reflected in the measured output of each subsystem so that it can be estimated in real time by an extended state observer (ESO) in terms of the measured outputs. Second, we decouple approximately the MIMO systems by cancelling the total disturbance based on ESO estimation so that each subsystem becomes approximately independent linear time invariant one without uncertainty and interaction with other subsystems. Finally, we design an ESO based output feedback for each subsystem separately to ensure that the closed-loop state is bounded, and the closed-loop output of each subsystem tracks practically a given reference signal. This is completely in comply with the spirit of active disturbance rejection control (ADRC). Some numerical simulations are presented to demonstrate the effectiveness of the proposed output feedback control scheme. 相似文献
6.
《Journal of The Franklin Institute》2023,360(13):9378-9398
This paper presents an additive-state-decomposition-based model predictive tracking control and disturbance rejection method for a permanent magnet synchronous motor (PMSM) servo system subject to unknown parameter perturbations, unmodeled dynamics, and time-varying load torque. The basic idea of this method is to equivalently decompose the original system into a primary system for handling the tracking control subproblem and a secondary system for dealing with the robust stabilization subproblem. A model predictive controller is designed for the primary system to achieve high-accuracy tracking of the reference speed. As for the secondary system, a novel high-order generalized extended state observer (HGESO) is constructed to estimate the multiple disturbances simultaneously, and a state feedback control law incorporating a disturbance compensator is developed to eliminate the adverse effect of the multiple disturbances on the system output. By combining the control inputs of the two subsystems together, the control objectives of the original system can be achieved. Both the stability criterion and design procedure of the closed-loop control system are developed. Finally, hardware-in-the-loop-based comparative experiments are conducted to demonstrate that the proposed method effectively suppresses the influence of the multiple disturbances on motor speed tracking accuracy and that the control system has both satisfactory dynamic performance and robustness. 相似文献
7.
In this paper, two output feedback controllers are proposed for motion control of double-rod electro-hydraulic servo actuators with matched and mismatched disturbances rejection. All of them employ an linear extended state observer (LESO) to achieve real-time estimates of the unmeasured system states and matched disturbance, and a nonlinear disturbance observer (NDO) to estimate the largely unknown mismatched disturbance at the same time. Thus, the disturbances are compensated via their online estimates in a feedforward way when implementing the resulting control algorithms, respectively. Furthermore, a continuously differentiable friction model is employed to compensate the majority of nonlinear friction existing in the system and reduce the burden of the NDO. Specially, one of the proposed control schemes utilizes model-based compensation terms depending on the desired trajectory to be tracked instead of the estimated system states. By doing this, online computation burden can be reduced. The stability of the whole closed-loop system under each control scheme is guaranteed by theoretical analysis. Moreover, the applicability of each control scheme are validated by experiments in different working conditions. 相似文献
8.
In motor system control design, a single controller is usually employed to simultaneously control two or more motors for saving costs, which also achieves the computational simplification of control. In practical Hamiltonian systems control, more systems also need to be stabilized by a single controller under some working conditions. Thus, this paper studies simultaneous stabilization problem of two nonlinear Port-controlled Hamiltonian (PCH) systems with disturbances by a composite controller. Based on the Hamiltonian structure properties, two PCH systems are combined together to generate an augmented PCH system by utilizing output feedbacks firstly. Then, to estimate disturbances effectively, it is essential to design a nonlinear disturbance observer (NDOB) and the estimate is employed to feedforward compensate the effects of disturbances. Next, combining the output feedback part and the disturbance compensation part together, a simultaneous stabilization controller is developed. Subsequently, it is proved that the closed-loop system under the proposed controller is asymptotically stable. Finally, an example with simulations reveals that the proposed method is effective. 相似文献
9.
This paper addresses the problem of local exponential stabilization via boundary feedback controllers for a class of nonlinear distributed parameter processes described by a scalar semi-linear parabolic partial differential equation (PDE). Both the domain-averaged measurement form and the boundary measurement form are considered. For the boundary measurement form, the collocated boundary measurement case and the non-collocated boundary measurement case are studied, respectively. For both domain-averaged measurement case and collocated boundary measurement case, a static output feedback controller is constructed. An observer-based output feedback controller is constructed for the non-collocated boundary measurement case. It is shown by the contraction semigroup theory and the Lyapunov’s direct method that the resulting closed-loop system has a unique classical solution and is locally exponentially stable under sufficient conditions given in term of linear matrix inequalities (LMIs). The estimation of domain of attraction is also discussed for the resulting closed-loop system in this paper. Finally, the effectiveness of the proposed control methods is illustrated by a numerical example. 相似文献
10.
Yonggang Chen Zidong Wang Wei Qian Fuad E. Alsaadi 《Journal of The Franklin Institute》2017,354(13):5245-5265
In this paper, a new memory-based control problem is addressed for neutral systems with time-varying delay, input saturations and energy bounded disturbances. Attention is focused on the design of a memory-based state feedback controller such that the closed-loop system achieves the desirable performance indices including the boundedness of the state trajectories, the H∞ disturbance rejection/attenuation level as well as the asymptotic stability. By using the combination of a novel delay-dependent polytopic approach, augmented Lyapunov–Krasovskii functionals and some integral inequalities, delay-dependent sufficient conditions are first proposed in terms of linear matrix inequalities. Then, three convex optimization problems are formulated whose aims are to, respectively, maximize the disturbance tolerance level, minimize the disturbance attenuation level and maximize the initial condition set. Finally, simulation examples demonstrate the effectiveness and benefits of the obtained results. 相似文献
11.
《Journal of The Franklin Institute》2023,360(7):4675-4694
This paper addresses the control problem of an uncertain system suffering from an exogenous disturbance. A new degree of control freedom is developed to handle the problem based on the equivalent-input-disturbance (EID) approach. The effect of the disturbance and uncertainties is equivalent to that of a fictitious disturbance on the control input channel, which is called an EID. A state observer and an improved EID (IEID) estimator are devised to produce an estimate that is used to compensate for the disturbance and uncertainties in a control law. A second-order low-pass filter is employed in the estimator to provide a way to solve a tradeoff between disturbance rejection and noise suppression. The slope of the Bode magnitude curve at high frequencies is two times larger for the IEID estimator than for a conventional one. This makes the IEID estimator less sensitive to measurement noise and more practical. Sufficient analyses reveal the mechanism of disturbance rejection, uncertainty attenuation, and noise suppression of an IEID-based control system. A theorem is derived to guarantee system stability and a procedure is presented for system design. Simulations and experiments of the position control of a magnetic levitation system are carried out to show the validity of the presented method. 相似文献
12.
13.
In this paper a new integrated observer-based fault estimation and accommodation strategy for discrete-time piecewise linear (PWL) systems subject to actuator faults is proposed. A robust estimator is designed to simultaneously estimate the state of the system and the actuator fault. Then, the estimate of fault is used to compensate for the effect of the fault. By using the estimate of fault and the states, a fault tolerant controller using a PWL state feedback is designed. The observer-based fault-tolerant controller is obtained by the interconnection of the estimator and the state feedback controller. We show that separate design of the state feedback and the estimator results in the stability of the overall closed-loop system. In addition, the input-to-state stability (ISS) gain for the closed-loop system is obtained and a procedure for minimizing it is given. All of the design conditions are formulated in terms of linear matrix inequalities (LMI) which can be solved efficiently. Also, performance of the estimator and the state feedback controller are minimized by solving convex optimization problems. The efficiency of the method is demonstrated by means of a numerical example. 相似文献
14.
《Journal of The Franklin Institute》2022,359(18):10741-10764
This paper deals with the problem of disturbance rejection and synchronization of fractional-order complex dynamical networks subject to nonlinear coupling strength and discontinuous nonlinear functions. Notably, the nonlinear coupling strength is linearised by using a well-known Takagi-Sugeno fuzzy approach. The considered system is transformed into a nominal form by employing the uncertainty and disturbance estimator-based control approach, which simplifies the control objective and improves the system performance. Second, the uncertainty and disturbance estimator is incorporated into the traditional feedback control scheme to reject the unknown disturbance and uncertainty. Then, the required synchronization conditions for both the discontinuous and continuous fractional-order systems are obtained by using Lyapunov stability and fractional calculus theories. Last, numerical examples are provided to illustrate the efficiency of the proposed control strategy, wherein it is shown that the system yields better satisfactory tracking performance and high robustness against possible disturbance and uncertainties and finite set of jump discontinuous nonlinear functions. Moreover, the selection of appropriate filter design is discussed for various kinds of disturbance signals. 相似文献
15.
Xiaoying Zhang Hongyinping Feng Shugen Chai 《Journal of The Franklin Institute》2018,355(13):5632-5648
In this paper, we consider output feedback stabilization for an anti-stable Schrödinger equation with both the internal unknown dynamic and external disturbance. An unknown input type state observer is designed in terms of a new disturbance estimator. Different from the existing results, we never use high gain in the observer design. Hence, the boundedness assumption on the derivative of disturbance, that is usually required by finite-dimensional extended state observer, is no longer required. The anti-stable term is treated by the backstepping transformation which is given by ODE form to make the controller design easier. Although the close-loop system is nonlinear, both the well-posedness and the asymptotic stability are obtained by a linear method in terms of an invertible transformation. The numerical simulations are presented to illustrate that the proposed scheme is very effective. 相似文献
16.
Yurong Liu Zidong Wang Lifeng Ma Fuad E. Alsaadi 《Journal of The Franklin Institute》2018,355(14):6339-6352
This paper is concerned with the robust H∞ control problem for a general class of uncertain nonlinear systems with mixed time-delays. The mixed time-delays consist of both discrete and distributed delays. We aim to design a memoryless state feedback controller such that the closed-loop system is robustly stable for all admissible uncertainties with guaranteed H∞ disturbance rejection attenuation level. By introducing a new Lyapunov–Krasovskii functional that reflects the mixed delays, sufficient conditions are established for the closed-loop system ensuring the robust stability as well as the H∞ performance requirement. The controller design is facilitated in terms of the solvability of a Hamilton–Jacobi inequality. Two numerical examples are utilized to demonstrate the effectiveness of the proposed methods. 相似文献
17.
A control system of an ODE and a diffusion PDE is discussed in this paper. The novelty lies in that the system is coupled. The method of PDE backstepping as well as some special skills is resorted in stabilizing the coupled PDE–ODE control system, which is transformed into an exponentially stable PDE–ODE cascade with an invertible integral transformation. And a state feedback boundary controller is designed. Moreover, an exponentially convergent observer for anti-collocated setup is proposed, and the output feedback boundary control problem is solved. For both the state and output feedback boundary controllers, exponential stability analyses in the sense of the corresponding norms for the resulting closed-loop systems are given through rigid proofs. 相似文献
18.
The problem of position tracking for a tank gun control system with inertia uncertainty and external disturbance is investigated in this paper. The tank gun control system, demanding high tracking precision and stabilization precision, is a nonlinear system. Classical control methods are commonly used in the actual system, which is difficult to ensure high precision and high disturbance rejection capability. An active disturbance rejection control (ADRC) scheme is applied to guarantee the state variables of the closed loop system to converge to the reference state with the help of the extended state observer by estimating the inertia uncertainty and external disturbance. The basic theory of the ADRC is introduced here. According to the mathematical model, the parameters of ADRC are designed. Also, simulation results show that ADRC controller has advantages of high precision and high disturbance rejection ability. A comparison between ADRC and PID is also presented to show the effectiveness of the ADRC control strategy. 相似文献
19.
This paper deals with the problems of non-fragile robust stochastic stabilization and robust H∞ control for uncertain stochastic nonlinear time-delay systems. The parameter uncertainties are assumed to be time-varying norm-bounded appearing in both state and input matrices. The time-delay is unknown and time-varying with known bounds. The non-fragile robust stochastic stabilization problem is to design a memoryless non-fragile state feedback controller such that the closed-loop system is robustly stochastically stable for all admissible parameter uncertainties. The purpose of robust H∞ control problem, in addition to robust stochastical stability requirement, is to reduce the effect of the disturbance input on the controlled output to a prescribed level. Using the Lyapunov functional method and free-weighting matrices, delay-dependent sufficient conditions for the solvability of these problems are established in terms of linear matrix inequality (LMI). Numerical example is provided to show the effectiveness of the proposed theoretical results. 相似文献