共查询到20条相似文献，搜索用时 359 毫秒
1.
《Journal of The Franklin Institute》2022,359(5):1899-1924
A novel robust state error Interconnection and Damping assignment Passivity-based Control (IDA-PBC) controller for Unmanned Surface Vessels (USVs) with input saturation and disturbances is proposed. A reduced-order extended state observer, the state error IDA-PBC technique, and an auxiliary dynamic system are used in the controller design. Firstly, a reduced-order extended state observer is constructed to estimate the external disturbances. Then, the state error IDA-PBC approach reduces system energy consumption and is easy to implement. We construct an auxiliary dynamic system to handle input saturation. All signals of the whole system can guarantee uniformly ultimate boundedness. Simulations demonstrate the robustness and effectiveness of the proposed approach. 相似文献
2.
Jason S.-H. Tsai Chao-Lung Wei Shu-Mei Guo Leang S. Shieh Ce R. Liu 《Journal of The Franklin Institute》2008,345(5):508-535
An evolutionary programming-based adaptive observer is presented in this paper to improve the performance of state estimation of nonlinear time-varying sampled-data systems. Also, this paper presents a novel state-space adaptive tracker together with the proposed observer and estimation schemes for nonlinear time-varying sampled-data systems having actuator failures. For the class of slowly varying nonlinear time-varying systems, the proposed methodology is able to achieve the desired fault detection and performance recovery for the originally well-designed systems, as long as the controller having the high-gain property. For practical implementation, we utilize the advantages of digital redesign methodology to convert a well-designed high-gain analog controller/observer into its corresponding low-gain digital controller/observer. Illustrative examples are given to demonstrate the effectiveness of the proposed method. The developed digitally redesigned adaptive tracker with the proposed observer and estimator is suitable for implementation by using microprocessors. 相似文献
3.
This paper studies the load mitigation problem for wind turbines by using active tuned mass dampers. A state space model for the tower/nacelle system is established with the consideration of tower/blade interaction. The uncertainties that appear in the damping matrix and natural frequencies are also considered in the controller design. External loads acting on the tower including the drag force induced by winds and the absolute base shear induced by the rotating blades are involved, and shaping filters for online generating these loads are proposed which can be easily implemented in numerical simulations. An adaptive sliding-mode controller is proposed to handle the system uncertainties, external disturbances and hard constraint, and also to improve the overall performance of the wind turbine system. Numerical simulations are performed to demonstrate the effectiveness of the proposed control law. 相似文献
4.
《Journal of The Franklin Institute》2022,359(18):10483-10509
In this paper, a fast fixed-time vertical plane motion controller is proposed for autonomous underwater gliders (AUGs) gliding in shallow water. The influence of speed-sensorless conditions, model uncertainties, unknown time-varying external disturbances, input saturations, and state delay are taken into account. To improve control performance, a fast fixed-time stable system is first presented. Based on the system, an adaptive extended state observer (ESO) is developed for estimating speed, model uncertainties, and external disturbances. A fast fixed-time controller is designed for improving the gliding efficiency and reducing the risk of hitting the ocean floor. Moreover, an input saturation auxiliary system and an advance compensation method are presented to cope with input saturations and state delay. According to Lyapunov theory, it is proved that the AUG states can converge into a small neighborhood within a fixed time. Finally, simulation results demonstrate the rapidity and effectiveness of the designed control method. 相似文献
5.
《Journal of The Franklin Institute》2019,356(16):9565-9579
This paper studies the stability and control problem of linear systems with non-symmetrical input saturation. A system with non-symmetrical input saturation is transformed into a system with switching symmetrical input saturation. A switching controller is designed based on a parametric algebra Riccati equation, dwell time and the equivalent switched system. Exponential stability is guaranteed with the proposed switching controller. The main advantages of the proposed method lie in reducing the conservatism caused by directly using symmetrical input saturation control and increasing the state convergent speed. The designed controller can be computed easily by solving the Riccati equation. Numerical examples are provided to demonstrate the effectiveness of the proposed method. 相似文献
6.
数字PID控制器的硬件优化设计 总被引：1，自引：0，他引：1
研究了PID控制器的数字电路实现方法. 通过对数字PID算法进行流水线设计,提高了算法运行效率;通过对加法器和乘法器采用有符号二进制小数操作,减小了电路面积. 该算法在Actel AFS600芯片上实现,仿真结果表明了该方案的可行性和有效性. 相似文献
7.
The attitude synchronization problem of multiple spacecraft is investigated in this paper. A simple cooperative control law, which can render spacecraft formation synchronized to a time-varying reference trajectory globally in the presence of model uncertainties, external disturbances and input saturation, is proposed. The globally asymptotic stability of the controller in the presence of model uncertainties and external disturbances is proven rigorously through a three-step proof technique. The controller can be used in orbit without modification due to its low computational complexity. Then, the proposed controller is extended to solve the consensus problem for multiple inertial agents with double-integrator dynamics. Finally, Numerical simulations are included to demonstrate the effectiveness of the developed controller. 相似文献
8.
面向工业控制器智能化和网络化的发展需求,本文在分析ARM内核处理器的基础上,开发了以AT91M40800为核心的嵌入武工业控制器的软硬件平台.根据当前实际的工业控制器的要求,设计了相应的模块:模数转换、数模转换、液晶显示和网络通信等.并完成了各个模块的功能.通过相应任务调度实例,对系统模块进行功能测试.系统测试结果表明该嵌入式工业控制器平台的设计是可行的,达到了预期目标. 相似文献
9.
文章简要介绍了一种基于ARM9S3C2410芯片设计的2．4G无线影音传输系统发射器。系统由硬件和软件两部分组成,硬件部分采用Arm9微处理器作为控制器,通过选择合适外围芯片,将传统的模拟信号转变成数字信号,使整个系统的抗干扰能力得到提高,并且易于维护。软件部分采用Linux操作系统,该操作系统简单实用。文章的设计方案克服了一些模拟信号传输过程中的缺点。 相似文献
10.
AbstractIn this Perspective paper we propose a rethink on how we should approach digital and analog news. Although there are literatures that continue to focus on the many and varied characteristics of digital and analog news, we should not consider these as separate, opposing entities. In fact, the intertwining between the digital and the analog of news makes it difficult, if not impossible, to define separately what they are, even if this often is the practice in scholarly debate on news and journalism in new media. What we argue in this paper is that today, in opposition to binary definitions, it would be much more revealing, and also connected to actual media practices, to try to understand how much digital there is in the analog news and, vice versa, how much analog there is in digital news. This approach recognizes three dimensions in media platforms: digital, analog, and, between them, a cross-evolved, digitalized analog present in television, radio, and online newspapers. Recognizing these three dimensions enables us to explore more clearly the implications that the hybridization of digital and analog news has on the overall media system and on the state of news itself. 相似文献
11.
《Journal of The Franklin Institute》2021,358(17):9110-9134
This paper investigates the adaptive attitude tracking problem for the rigid satellite involving output constraint, input saturation, input time delay, and external disturbance by integrating barrier Lyapunov function (BLF) and prescribed performance control (PPC). In contrast to the existing approaches, the input delay is addressed by Pade approximation, and the actual control input concerning saturation is obtained by utilizing an auxiliary variable that simplifies the controller design with respect to mean value methods or Nussbaum function-based strategies. Due to the implementation of the BLF control, together with an interval notion-based PPC strategy, not only the system output but also the transformed error produced by PPC are constrained. An adaptive fuzzy controller is then constructed and the predesigned constraints for system output and the transformed error will not be violated. In addition, a smooth switch term is imported into the controller such that the finite time convergence for all error variables is guaranteed for a certain case while the singularity problem is avoided. Finally, simulations are provided to show the effectiveness and potential of the proposed new design techniques. 相似文献
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13.
《Journal of The Franklin Institute》2022,359(3):1130-1151
This paper is concerned with the simultaneous exponential stabilization problem for a set of stochastic port-controlled Hamiltonian (PCH) systems. Due to the limited bandwidth of the channels, the phenomena of fading channels and transmission delays which are described by a time-varying stochastic model always occur in the communication channels from the controller to the actuator. Meanwhile, actuator saturation constraint is taken into account. On the basis of dissipative Hamiltonian structural and saturating actuator properties, those stochastic PCH systems are combined to generate an augmented system. By utilizing the stochastic analysis theory, sufficient criterions are given for the simultaneous stabilization controller design ensuring that the closed-loop system is simultaneously exponentially mean-square stable (SEMSS). For the case that there exist external disturbances in the systems, some results on stability analysis and controller design are given. The developed controller design scheme is proved by a three-helicopter model simulation example. 相似文献
14.
In this paper, we develop two new model reference adaptive control (MRAC) schemes for a class of nonlinear dynamic systems that is robust with respect to an uncertain state (output) dependent nonlinear perturbations and/or external disturbances with unknown bounds. The design is based on a controller parametrization with an adaptive integral action. Two types of adaptive controllers are considered—the state feedback controller with a plant parameter identifier, and the output feedback controller with a linear observer. 相似文献
15.
Charles Aguiar Daniel Leite Daniel Pereira Goran Andonovski Igor Škrjanc 《Journal of The Franklin Institute》2021,358(2):1376-1402
Overhead cranes are widely used structures for lifting and conveying heavy loads. The development of feedback control systems for such equipment is important due to the large number of potential applications and advantages over manual operation concerning stability and robustness. This paper aims to represent the key nonlinear dynamics of crane systems by means of a state-space fuzzy model with compact rule-base structure. The fuzzy model is useful to assist the design of a fuzzy controller based on the concept of parallel compensation. A well-posed conservative linear-matrix-inequality (LMI) feasibility problem is formulated so that a solution guarantees closed-loop Lyapunov stability, bounded control inputs, quick positioning of the supporting cart, and suppression of load oscillations and collisions. The fuzzy controller is composed by rules with linear control laws derived from local state-space models. The controller warrants asymptotic convergence of the states. Due to the nonlinear nature of the fuzzy model and controller, Jacobian linearization is avoided. The proposed fuzzy control approach for cranes has shown to be more effective and robust than an optimal quadratic controller, and able to move cargo smoothly and safely to a destination. Particularly, constrained and smoother control inputs avoid actuator saturation, and tend to increase its lifetime. Laboratory experiments using the LMI fuzzy controller and actual data validates the approach for cranes in actual scenario. 相似文献
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17.
《Journal of The Franklin Institute》2022,359(4):1505-1530
In this paper, the quadrotor stabilization under time and state constraints is studied. The objective is to design a nonlinear controller under time and state constraint for quadrotor. The nonlinear quadrotor model is built by the Euler-Lagrange approach while ignoring the Coriolis terms, hub moment and force. Based on quadrotor’s dynamic model, a nonlinear feedback controller is designed for the quadrotor stabilization under time and state constraints. This feedback is an implicit PID controller where the feedback gains are obtained from LMIs (Linear matrix inequalities). LMI system characterizing the system stability and convergence properties is built based on convex embedding approach and implicit Lyapunov function method. To demonstrate the application prospects of implicit PID controller, robustness analysis is provided to show the property of implicit PID controller under external disturbance. The key novelty of this paper is that the implicit PID controller is proven feasible for applying to the quadrotor under time and state constraints, which is also the main outcome. 相似文献
18.
《Journal of The Franklin Institute》2022,359(8):3466-3491
This paper investigates the fixed-time neural network adaptive (FNNA) tracking control of a quadrotor unmanned aerial vehicle (QUAV) to achieve flight safety and high efficiency. By combining radial basis function neural network (RBFNN) with fixed time adaptive sliding mode algorithm, a novel radial basis function neural network adaptive law is proposed. In addition, an extended state/disturbance observer (ESDO) is proposed to solve the problem of unmeasurable state and external interference, which can obtain reliable state feedback and interference input. Unlike most other ESO applications, this paper does not set the uncertainty model and external disturbances as total disturbances. Instead, the external disturbances are observed by extending the states and the observed states are fed back to the controller to cancel the disturbances. In view of the time-varying resistance coefficient and inertia torque in the QUAV model, the neural network is introduced so that the controller does not need to consider these nonlinear uncertainties. Finally, a numerical example is given to verify the effectiveness of the coupled non-simplified QUAV model. 相似文献
19.
《Journal of The Franklin Institute》2019,356(15):8237-8254
Robust formation problems for linear multi-agent systems with uncertainties and external disturbances are investigated in this paper. The model of each agent can be described by a nominal linear system combined with external disturbances and uncertainties which include parameter perturbations and nonlinear uncertainties. A more general bound of uncertainties is introduced. A robust formation controller, which consists of a nominal controller and a robust compensator, is proposed to achieve the desired state formation and restrain the influence of uncertainties and disturbances. Furthermore, sufficient conditions for time-varying formation feasibility are introduced and proved. Finally, a numerical example is provided to demonstrate the theoretical results. 相似文献
20.
《Journal of The Franklin Institute》2023,360(9):6566-6584
This work concentrates on the control design of interval type-2 (IT2) T–S fuzzy systems under probabilistic saturation constraints. The actual control signals are allowed to exceed some preset thresholds with a certain frequency. Meanwhile, the sensors are governed by the multi-node round-robin scheduling protocol, which permits more than one sensors to transmit their information at every moment. The main objective is to synthesize a fuzzy controller such that the closed-loop system is locally stochastically stable under probabilistic saturated constraints and the multi-node round-robin scheduling protocol. To this end, the probabilistic saturation constraints are characterized by a Bernoulli-distributed stochastic process, and the received state at the controller side is formulated based on an updating rule and a compensation strategy. By constructing new membership functions, a token-dependent control law is subsequently designed. The stability analysis is facilitated by a modified sector condition dealing with the saturation nonlinearities. With suitable selection of initial states, sufficient conditions are derived to achieve the local stochastic stability of the closed-loop IT2 T–S fuzzy system. A larger domain of stochastic stability can be obtained via a searching algorithm. Finally, the proposed method is illustrated via a simulation example. 相似文献