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1.
This paper develops a super-twisting sliding-mode observer-based model reference adaptive speed controller (STSMO-MRA-SC) for the permanent-magnet synchronous motor-based variable speed drive (PMSM-VSD) system. A stable first-order linear model is selected as the reference model to describe the required speed trajectory. To make the actual speed of the PMSM-VSD system follow this trajectory, the proposed STSMO-MRA-SC comprises three terms: (1) the stabilization term dependent on known parameters of the motion dynamics and the selected reference model for stabilizing the speed tracking error dynamics asymptotically; (2) the disturbance compensation term based on the STSMO for compensating the lumped disturbance in the speed tracking error dynamics; and (3) the error compensation term updated online by the adaptive law for confronting the estimation error of the STSMO in practice. Comparative experimental tests among the classic MRA-SC, the radial basis function neural network-based MRA-SC and the proposed STSMO-MRA-SC are performed. Experimental results have verified the effectiveness and the superiority of the proposed STSMO-MRA-SC.  相似文献   

2.
A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed. The main controller is designed for high performance of the original faultless system. The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system. A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator. System robustness is greatly improved by using the new configuration controller. The stability of the whole closed-loop system is analyzed. Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.  相似文献   

3.
In this article, an adaptive fuzzy control method is proposed for induction motors (IMs) drive systems with unknown backlash-like hysteresis. First, the stochastic nonlinear functions existed in the IMs drive systems are resolved by invoking fuzzy logic systems. Then, a finite-time command filter technique is exploited to overcome the obstacle of “explosion of complexity” emerged in the classical backstepping procedure during the controller design process. Meanwhile, the effect of the filter errors generated by command filters is decreased by utilizing corresponding error compensating mechanism. To cope with the influence of backlash-like hysteresis input, an auxiliary system is constructed, in which the output signal is applied to compensate the effect of the hysteresis. The finite-time control technology is adopted to accelerate the response speed of the system and reduce the tracking error, and the stochastic disturbance and backlash-like hysteresis are considered to improve control accuracy. It’s shown that the tracking error can converge to a small neighborhood around the origin in finite-time under the constructed controller. Finally, the availability of the presented approach is validated through simulation results.  相似文献   

4.
A novel robust hierarchical multi-loop composite control scheme is proposed for the trajectory tracking control of robotic manipulators subject to constraints and disturbances. The inner loop based on inverse dynamics control is used to reduce the nonlinear tracking error system to a set of decoupled linear subsystems to alleviate the computational effort during the sequel optimization. The feasible regions of the equivalent state and control input of each subsystem can be computed efficiently by choosing an appropriate inertia matrix estimate. The external loop, relying on a set of separate disturbance-observer-based tube model predictive composite controllers, is used to robustly stabilize the decoupled subsystems. In particular, the disturbance observers are designed to compensate for the disturbances actively, while the tube model predictive controllers are used to reject the residual disturbances. The robust tightened constraints are obtained by calculating the outer-bounding-tube-type residual disturbance invariant sets of the closed-loop subsystems. Furthermore, the recursive feasibility and input-to-state stability of the closed-loop system are investigated. The effectiveness of the proposed control scheme is verified by the simulation experiment on a PUMA 560 robotic manipulator.  相似文献   

5.
This paper investigates the frequency change problem of hydraulic turbine regulating system based on terminal sliding mode control method. By introducing a novel terminal sliding mode surface, a global fast terminal sliding mode controller is designed for the closed loop. This controller eliminates the slow convergence problem which arises in the terminal sliding mode control when the error signal is not near the equilibrium. Meanwhile, following consideration of the error caused by the actuator dead zone, an adaptive RBF estimator based on sliding mode surface is proposed. Through the dead zone error estimation for feed-forward compensation, the composite terminal sliding mode controller has been verified to possess an excellent performance without sacrificing disturbance rejection robustness and stability. Simulations have been carried out to validate the superiority of our proposed methods in comparison with other two other kinds of sliding mode control methods and the commonly used PID and FOPID controller. It is shown that the simulation results are in good agreement with the theoretical analysis.  相似文献   

6.
In this paper, the development and experimental validation of a novel double two-loop nonlinear controller based on adaptive neural networks for a quadrotor are presented. The proposed controller has a two-loop structure: an outer loop for position control and an inner loop for attitude control. Similarly, both position and orientation controllers also have a two-loop design with an adaptive neural network in each inner loop. The output weight matrices of the neural networks are updated online through adaptation laws obtained from a rigorous error convergence analysis. Thus, a training stage is unnecessary prior to the neural network implementation. Additionally, an integral action is included in the controller to cope with constant disturbances. The error convergence analysis guarantees the achievement of the trajectory tracking task and the boundedness of the output weight matrix estimation errors. The proposed scheme is designed such that an accurate knowledge of the quadrotor parameters is not needed. A comparison against the proposed controller and two other well-known schemes is presented. The obtained results showed the functionality of the proposed controller and demonstrated robustness to parametric uncertainty.  相似文献   

7.
Using the direct synthesis method, a PID controller in series with a lead/lag compensator is designed for control of open loop integrating processes with time delay. Set-point weighting is considered for reducing the undesirable overshoot. Guidelines are provided for selection of the desired closed loop tuning parameter in the direct synthesis method and set point weighting parameter. The method gives significant load disturbance rejection performances. Illustrative examples are considered to show the performances of the proposed method. Significant improvement is obtained when compared to recently reported methods.  相似文献   

8.
In this paper, an adaptive TSK-type CMAC neural control (ATCNC) system via sliding-mode approach is proposed for the chaotic symmetric gyro. The proposed ATCNC system is composed of a neural controller and a supervisory compensator. The neural controller uses a TSK-type CMAC neural network (TCNN) to approximate an ideal controller and the supervisory compensator is designed to guarantee system stable in the Lyapunov stability theorem. The developed TCNN provides more powerful representation than the traditional CMAC neural network. Moreover, all the control parameters of the proposed ATCNC system are evolved in the Lyapunov sense to ensure the system stability with a proportional–integral (PI) type adaptation tuning mechanism. Some simulations are presented to confirm the validity of the proposed ATCNC scheme without the occurrence of chattering phenomena. Further, the proposed PI type adaptation laws can achieve faster convergence of the tracking error than that using integral type adaptation laws in previous published papers.  相似文献   

9.
In this paper, speed control, torque ripple minimization and Power Factor Correction (PFC) of a Canonical Switching Cell (CSC) with Sinusoidal and Space Vector Pulse Width Modulated (SVPWM) sensorless Permanent Magnet Brushless DC (PMBLDC) motor drive system with varying load is discussed. The constant speed of operation with minimum torque ripples and Unity Power Factor (UPF) operation during transient state is the most difficult control part in the motor drive system. At the starting condition, the current is too high due to the absence of back EMF and therefore the motor will start with high torque ripples. In order to eliminate these torque ripples during starting condition by limiting the starting current of the motor, it is necessary to have properly designed Canonical Switching Cell (CSC) converter and an intelligent controller, which will improve the power factor of the supply system and reliability of the PMBLDC motor drive. Here, the speed control, torque ripple minimization and power factor correction of a sensorless PMBLDC motor during starting and running condition with conventional and fuzzy logic controllers are proposed. The performance parameters of a PMBLDC motor with these controllers is analyzed through MATLAB/Simulink software.  相似文献   

10.
This paper proposes a fuzzy model predictive control (FMPC) combined with the modified Smith predictor for networked control systems (NCSs). The network delays and data dropouts are problems, which greatly reduce the controller performance. For the proposed controller, the model of the controlled system is identified on-line using the Takagi – Sugeno (T-S) fuzzy models based on the Lyapunov function. There are two internal loops in the proposed structure. The first is the loop around the FMPC, which predicts the future outputs. The other is the loop around the plant to give the error between the system model and the actual plant. The proposed controller is designed for controlling a DC servo system through a wireless network to improve the system response. The practical results based on MATLAB/SIMULINK are established. The practical results are indicated that the proposed controller is able to respond the networked time delay and data dropouts compared to other controllers.  相似文献   

11.
The lateral stability is the crucial feature in a distributed drive electronic vehicle (DDEV). A high speed DDEV in a sharp turn may lose the lateral stability when it encounters fast varied road adhesion coefficients. To solve this problem, a BP-PID controller-based multi-model control system (MMCS) is designed for DDEV via direct yaw-moment control (DYC) in this paper. Firstly, according to the varied road adhesion coefficients, the working circumstance of DDEV is summarized as seven kinds of typical types. A sub-model set is established to accurately describe the operating mode of the working circumstance. Secondly, based on the sub-model set, a nonlinear sub-controller set is constructed with seven off-line tuning BP-PID controllers and an on-line tuning one. The off-line tuning controller can fast calculate the required direct yaw-moment, and the on-line tuning controller is aimed to achieve a high control accuracy. Thirdly, a controller switching policy is composed of an error judgement policy and a model matching policy. Such switching policy is utilized to precisely identify the working circumstance of DDEV and implement switching control. Finally, simulation experiments prove that the designed MMCS shows a significant control performance and guarantees the lateral stability of DDEV under varied road adhesion coefficients.  相似文献   

12.
This article presents a novel tuning design of Proportional-Integral-Derivative (PID) controller in the Automatic Voltage Regulator (AVR) system by using Cuckoo Search (CS) algorithm with a new time domain performance criterion. This performance criterion was chosen to minimize the maximum overshoot, rise time, settling time and steady state error of the terminal voltage. In order to compare CS with other evolutionary algorithms, the proposed objective function was used in Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) algorithms for PID design of the AVR system. The performance of the proposed CS based PID controller was compared to the PID controllers tuned by the different evolutionary algorithms using various objective functions proposed in the literature. Dynamic response and a frequency response of the proposed CS based PID controller were examined in detail. Moreover, the disturbance rejection and robustness performance of the tuned controller against parametric uncertainties were obtained, separately. Energy consumptions of the proposed PID controller and the PID controllers tuned by the PSO and ABC algorithms were analyzed thoroughly. Extensive simulation results demonstrate that the CS based PID controller has better control performance in comparison with other PID controllers tuned by the PSO and ABC algorithms. Furthermore, the proposed objective function remarkably improves the PID tuning optimization technique.  相似文献   

13.
In this paper, the target tracking control problem is investigated for an underactuated autonomous underwater vehicle (AUV) in the presence of actuator faults and external disturbances based on event-triggered mechanism. Firstly, the five degrees-of-freedom kinematic and dynamic models are constructed for an underactuated AUV, where the backstepping method is introduced as the major control framework. Then, radial basis function neural network (RBFNN) and adaptive control method are made full use of estimating and compensating the influences of uncertain information and actuator faults. Besides, the relative threshold event-triggered strategy is integrated into the tracking control to further reduce communication burden from the controller to the actuator. Moreover, through Lyapunov analysis, it is proved that the designed controllers guarantee that the tracking error variables of the underactuated AUV are uniformly ultimately bounded and can converge to a small neighborhood of the origin. Finally, the effectiveness and reasonableness of the designed tracking controllers are illustrated by comparative simulations.  相似文献   

14.
This paper investigates the problem of horizontal-plane trajectory tracking for fixed-wing unmanned aerial vehicles(UAVs) subjected to external disturbances and uncertainties including coupling and unmodeled dynamics. Under the assumption there exist ideal inner-loop controllers, the 12-state model is reduced to a 6-state translational motion model, which is described by a group of simplified nonlinear equations with equivalent disturbances via introducing general aerodynamic models. Then a new cascaded control structure consisting of an outer-loop controller for position control and inner-loop controllers for attitude and thrust control is proposed. Based on feedback linearization technology and signal compensation theory, the proposed controller applied for position control incorporates a nominal linear time-invariant controller and a robust compensator, the latter of which is introduced to restrain the effects of uncertainties and disturbances. The robust performance of the closed-loop system is proved. Actual experimental results conducted on a small fixed-wing aircraft demonstrate that the proposed control approach is effective.  相似文献   

15.
李茜 《科技广场》2011,(5):133-137
本文以便携式数字伺服实验系统为对象,研究了该伺服系统控制器的设计方法。论文描述了数字伺服系统的建模过程,详细介绍了工程设计方法,并按照典型I系统和典型II系统分别设计了电流环调节器和转速环调节器。通过MATLAB仿真对系统性能进行分析,实现了系统的双闭环控制。该算法解决了伺服系统中稳态精度和动态性能之间的矛盾,系统具有良好的动、静态性能。  相似文献   

16.
This paper investigates the finite-time cooperative formation control problem for a heterogeneous system consisting of an unmanned ground vehicle (UGV) - the leader and an unmanned aerial vehicle (UAV) - the follower. The UAV system under consideration is subject to modeling uncertainties, external disturbance as well as actuator faults simultaneously, which is associated with aerodynamic and gyroscopic effects, payload mass, and other external forces. First, a backstepping controller is developed to stabilize the leader system to track the desired trajectory. Second, a robust nonsingular fast terminal sliding mode surface is designed for UAV and finite-time position control is achieved using terminal sliding mode technique, which ensures the formation error converges to zero in finite time in the presence of actuator faults and other uncertainties. Furthermore, by combining the radial basis function neural networks (NNs) with adaptive virtual parameter technology, a novel NN-based adaptive nonsingular fast terminal sliding formation controller (NN-ANFTSMFC) is developed. By means of the proposed adaptive control strategy, both uncertainties and actuator faults can be compensated without the prior knowledges of the uncertainty bounds and fault information. By using the proposed control schemes, larger actuator faults can be tolerated while eliminating control chattering. In order to realize fast coordinated formation, the expected position trajectory of UAV is composed of the leader position information and the desired relative distance with UGV, based on local distributed theory, in the three-dimensional space. The tracking and formation controllers are proved to be stable by the Lyapunov theory and the simulation results demonstrate the effectiveness of proposed algorithms.  相似文献   

17.
The robust control problem of a class of uncertain systems subject to intermittent measurement as well as external disturbances is considered. The disturbances are supposed to be generated by an exogenous system, while the state information is assumed to be available only on some nonoverlapping time intervals. A composite design consisting of an intermittent state feedback controller augmented by a disturbance compensation term derived from a disturbance observer is formulated. Unlike the conventional disturbance observers, the proposed disturbance observer is modelled by a switched impulsive system, which makes use of the intermittent state data to estimate the disturbances. Stability analysis of the resulting closed-loop system is performed by applying a piecewise time-dependent Lyapunov function. Then a sufficient condition for the existence of the proposed composite controllers is derived in terms of linear matrix inequalities (LMIs). The controller and observer gains can be achieved by solving a set of LMIs. Further, a procedure to limit the norms of the controller and observer gains is given. Finally, an illustrative example is presented to demonstrate the validity of the results.  相似文献   

18.
The synchronous control of a class of disturbed chaotic Lurie systems is probed in. The conception of Lr-synchronization of drive-respond systems is presented. Via Lyapunov function analysis and comparison principle, Lr synchronous controller of the drive-respond systems under perturbation is given and its robustness is also discussed. Barbalat lemma is further used to derive the adaptively synchronous controller for the unknown disturbance situation and the globally asymptotical synchronization is realized. All designed controllers are verified by the simulations and the given controllers are linear, which are convenient and can produce rapid convergence speed of the error systems.  相似文献   

19.
In this paper, the robust motion control problem is investigated for quadrotors. The proposed controller includes two parts: an attitude controller and a position controller. Both the attitude and position controllers include a nominal controller and a robust compensator. The robust compensators are introduced to restrain the influence of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances in the rotational and translational dynamics. It is proven that the position tracking errors are ultimately bounded and the boundaries can be specified by choosing controller parameters. Experimental results on the quadrotor demonstrate the effectiveness of the robust control method.  相似文献   

20.
In the present study, a novel technique is suggested for the adaptive non-linear model predictive control based on the fuzzy approach in three stages. In the presented approach, in the first stage, the prediction and control horizons are obtained from a fuzzy system in each control step. Another fuzzy system is employed to determine the weight factors before the optimization stage of developing new controller. The proposed controller gives the parameters of the model predictive control (MPC) in each control step in order to improve the performance of nonlinear systems. The proposed control scheme is compared with the traditional MPC and Generic Model Control for controlling MED-TVC process. The performances of the three proposed controllers have been investigated in the absence and presence of disturbance in order to evaluate the stability and robustness of the proposed controllers. The results reveal that the novel adaptive controller based on fuzzy approach performs better than the two other controllers in set-point tracking and disturbance rejection with lower IAE criteria. In addition, the average computational time for the adaptive MPC exhibits a decline of 34% in comparison with the traditional MPC.  相似文献   

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