In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances...In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances and deferred output constraints.Independent of exact initial values,a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is guaranteed.Meanwhile,to deal with deferred output constraints,an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov function.Then,by combining the modified observer and the improved controller,an anti-disturbance control scheme is presented,which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time,and the tethered aircraft tracks the desired trajectory accurately.Finally,both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.展开更多
In this paper,an adaptive composite anti-disturbance control of heavy haul trains(HHTs)is proposed.First,the mechanical principle and characteristics of couplers are analysed and the longitudinal multi-particles nonli...In this paper,an adaptive composite anti-disturbance control of heavy haul trains(HHTs)is proposed.First,the mechanical principle and characteristics of couplers are analysed and the longitudinal multi-particles nonlinear dynamic model of HHTs is established,which can satisfy that the forces of vehicles in different positions are different.Subsequently,a radial basis function network(RBFNN)is employed to approximate the uncertainties of HHTs,and a nonlinear disturbance observer(NDO)is constructed to estimate the approximation error and external disturbances.To indicate and improve the approximation accuracy,a serial-parallel identification model of HHTs is constructed to generate a prediction error,and an adaptive composite anti-disturbance control scheme is developed,where the prediction error and tracking error are employed to update RBFNN weights and an auxiliary variable of NDO.Finally,the feasibility and effectiveness of the proposed control scheme are demonstrated through the Lyapunov theory and simulation experiments.展开更多
The rendezvous and proximity operations with respect to a tumbling non-cooperative target pose high requirement for the position and attitude control accuracy of servicing spacecraft.However,multiple disturbances incl...The rendezvous and proximity operations with respect to a tumbling non-cooperative target pose high requirement for the position and attitude control accuracy of servicing spacecraft.However,multiple disturbances including parametric uncertainties,flexible vibration,and unknown nonlinear dynamics degrade the control performance significantly.In order to enhance the system anti-disturbance ability,this paper proposes a composite anti-disturbance control law for the spacecraft position and attitude tracking.Firstly,the relative position and attitude dynamic models with multiple disturbances are established,where the refined descriptions of multiple disturbances are accomplished based on their characteristics.Then,by combining a dual Disturbance ObserverBased Control(DOBC)and a sliding mode control,a composite controller with hierarchical architecture is proposed,where the dual DOBC in the feedforward channel is used to reject the flexible vibration,environment disturbance,and complicated nonlinear dynamics,while the parametric uncertainties are attenuated by the sliding mode control in the feedback channel.Stability analysis is carried out for the closed-loop system by unifying the sliding mode dynamics and observer dynamics.Finally,the effectiveness of the proposed controller is verified via numerical simulation and hardware-in-the-loop test.展开更多
Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-d...This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.展开更多
Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tensio...Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tension during off-road operation.Based on the analysis of the relation and external forces depending on free body diagrams of the idler,idler arm,road wheel and road arm,a theoretical estimation model of track tension is built.Comparing estimation results with multibody dynamics simulation results,the rationality of track tension monitor is validated.By the aid of this monitor,a track tension control system is designed,which includes a self-tuning proportional-integral-derivative(PID)controller based on radial basis function neural network,an electro-hydraulic servo system and an idler arm.The tightness of track can be adjusted by turning the idler arm.Simulation results of the vehicle starting process indicate that the controller can reach different expected tensions quickly and accurately.Compared with a traditional PID controller,the proposed controller has a stronger anti-disturbance ability by amending control parameters online.展开更多
In this paper,the effect of disturbances on the operation process of a methane-fueled free-piston engine generator(FPEG)was experimentally investigated.Four disturbance sources,namely step change of external load,mixt...In this paper,the effect of disturbances on the operation process of a methane-fueled free-piston engine generator(FPEG)was experimentally investigated.Four disturbance sources,namely step change of external load,mixture flow rate fluctuation,random misfire of a cylinder,and elastic collision,were identified and applied to the FPEG.The results showed that the FPEG successfully achieved a steady-state operation with load.The maximum instantaneous electric power of 127 W and the average effective electric power of 38.9 W were obtained.When an external load was instantaneously disconnected,the engine frequency increased from 26.7 Hz to 31.3 Hz.The fluctuation amplitudes of induced voltage,pressure and compression ratio were 18.9%,24.7%and 52.2%respectively in the disturbance.By contrast,when the external load was instantaneously connected,the corresponding values were 42.2%,31.3%and 64.3%respectively,indicating that the instantaneous external load connection had a greater disturbance impact on the FPEG operation stability.Despite encountering the step change of external load,the FPEG can still restore stable operation and show good anti-disturbance ability.Compared with increasing mixture flow rate,reducing the mixture flow rate has a greater disturbance impact on the engine operation stability.Although random misfire of a cylinder will cause remarkable fluctuations in piston displacement and cylinder pressure,the FPEG will not stop running,but continues to work as a single-piston engine.Minor collision event may adversely affect the stability of engine operation,but will not lead to the FPEG shutdown.However,serious collision event may lead to ignition failure and shutdown accident.展开更多
To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance separately.Guaranteeing the synergistic robustness and smoot...To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance separately.Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult.To address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)framework.Specifically,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.This formulation guarantees rapid convergence and simultaneous chattering elimination.By introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention.Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.展开更多
In this paper, a class of disturbed networked Euler-Lagrangian systems is investigated to track a general virtual signal under a general directed communication network. Firstly, a class of fixed-time distributed obser...In this paper, a class of disturbed networked Euler-Lagrangian systems is investigated to track a general virtual signal under a general directed communication network. Firstly, a class of fixed-time distributed observer is constructed to estimate the leader's state. Secondly, a local anti-disturbance tracking control based on the previous distributed observer is proposed for each follower to achieve the tracking consensus in a fixed time. A simulation example is finally conducted to verify the proposed algorithm.展开更多
基金supported by the National Natural Science Foundation of China(61725303,91848205)。
文摘In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances and deferred output constraints.Independent of exact initial values,a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is guaranteed.Meanwhile,to deal with deferred output constraints,an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov function.Then,by combining the modified observer and the improved controller,an anti-disturbance control scheme is presented,which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time,and the tethered aircraft tracks the desired trajectory accurately.Finally,both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.
基金This research was supported by the National Natural Science Foundation of China(Grants No.U2034211 and 61963029)the Jiangxi Provincial Natural Science Foundation(Grants No.20232ACE01013 and 20232ACB202007)。
文摘In this paper,an adaptive composite anti-disturbance control of heavy haul trains(HHTs)is proposed.First,the mechanical principle and characteristics of couplers are analysed and the longitudinal multi-particles nonlinear dynamic model of HHTs is established,which can satisfy that the forces of vehicles in different positions are different.Subsequently,a radial basis function network(RBFNN)is employed to approximate the uncertainties of HHTs,and a nonlinear disturbance observer(NDO)is constructed to estimate the approximation error and external disturbances.To indicate and improve the approximation accuracy,a serial-parallel identification model of HHTs is constructed to generate a prediction error,and an adaptive composite anti-disturbance control scheme is developed,where the prediction error and tracking error are employed to update RBFNN weights and an auxiliary variable of NDO.Finally,the feasibility and effectiveness of the proposed control scheme are demonstrated through the Lyapunov theory and simulation experiments.
基金supported by the China National Postdoctoral Program for Innovative Talents(No.BX20200031)the National Natural Science Foundation of China(Nos.62103013,61633003,61973012)the Program for Changjiang Scholars and Innovative Research Team,China(No.IRT 16R03).
文摘The rendezvous and proximity operations with respect to a tumbling non-cooperative target pose high requirement for the position and attitude control accuracy of servicing spacecraft.However,multiple disturbances including parametric uncertainties,flexible vibration,and unknown nonlinear dynamics degrade the control performance significantly.In order to enhance the system anti-disturbance ability,this paper proposes a composite anti-disturbance control law for the spacecraft position and attitude tracking.Firstly,the relative position and attitude dynamic models with multiple disturbances are established,where the refined descriptions of multiple disturbances are accomplished based on their characteristics.Then,by combining a dual Disturbance ObserverBased Control(DOBC)and a sliding mode control,a composite controller with hierarchical architecture is proposed,where the dual DOBC in the feedforward channel is used to reject the flexible vibration,environment disturbance,and complicated nonlinear dynamics,while the parametric uncertainties are attenuated by the sliding mode control in the feedback channel.Stability analysis is carried out for the closed-loop system by unifying the sliding mode dynamics and observer dynamics.Finally,the effectiveness of the proposed controller is verified via numerical simulation and hardware-in-the-loop test.
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
基金supported by the National Natural Science Foundation of China(61773056)the Scientific and Technological Innovation Foundation of Shunde Graduate School,University of Science and Technology Beijing(USTB)(BK19AE018)+2 种基金the Fundamental Research Funds for the Central Universities of USTB(FRF-TP-20-09B,230201606500061,FRF-DF-20-35,FRF-BD-19-002A)supported by Zhejiang Natural Science Foundation(LD21F030001)supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(Ministry of Science and Information and Communications Technology)(NRF-2020R1A2C1005449)。
文摘This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.
基金The authors gratefully acknowledge the Natural Science Foundation of Jiangsu Province(No.BK20190871)Natural Science Foundation of Jiangsu Province(No.BK20190438)for the financial support of this research.
文摘Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tension during off-road operation.Based on the analysis of the relation and external forces depending on free body diagrams of the idler,idler arm,road wheel and road arm,a theoretical estimation model of track tension is built.Comparing estimation results with multibody dynamics simulation results,the rationality of track tension monitor is validated.By the aid of this monitor,a track tension control system is designed,which includes a self-tuning proportional-integral-derivative(PID)controller based on radial basis function neural network,an electro-hydraulic servo system and an idler arm.The tightness of track can be adjusted by turning the idler arm.Simulation results of the vehicle starting process indicate that the controller can reach different expected tensions quickly and accurately.Compared with a traditional PID controller,the proposed controller has a stronger anti-disturbance ability by amending control parameters online.
基金supported by the National Natural Science Foundation of China(No.52076007)Project of Educational Commission of Henan Province of China(No.22A470007 and No.20A470008)。
文摘In this paper,the effect of disturbances on the operation process of a methane-fueled free-piston engine generator(FPEG)was experimentally investigated.Four disturbance sources,namely step change of external load,mixture flow rate fluctuation,random misfire of a cylinder,and elastic collision,were identified and applied to the FPEG.The results showed that the FPEG successfully achieved a steady-state operation with load.The maximum instantaneous electric power of 127 W and the average effective electric power of 38.9 W were obtained.When an external load was instantaneously disconnected,the engine frequency increased from 26.7 Hz to 31.3 Hz.The fluctuation amplitudes of induced voltage,pressure and compression ratio were 18.9%,24.7%and 52.2%respectively in the disturbance.By contrast,when the external load was instantaneously connected,the corresponding values were 42.2%,31.3%and 64.3%respectively,indicating that the instantaneous external load connection had a greater disturbance impact on the FPEG operation stability.Despite encountering the step change of external load,the FPEG can still restore stable operation and show good anti-disturbance ability.Compared with increasing mixture flow rate,reducing the mixture flow rate has a greater disturbance impact on the engine operation stability.Although random misfire of a cylinder will cause remarkable fluctuations in piston displacement and cylinder pressure,the FPEG will not stop running,but continues to work as a single-piston engine.Minor collision event may adversely affect the stability of engine operation,but will not lead to the FPEG shutdown.However,serious collision event may lead to ignition failure and shutdown accident.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.52275488 and 52105019)in part by the Key R&D Program of Hubei Province,China(Grant No.2022BAA064)in part by Dongguan Social Development Project,China(Grant No.20211800904902).
文摘To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance separately.Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult.To address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)framework.Specifically,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.This formulation guarantees rapid convergence and simultaneous chattering elimination.By introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention.Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.
基金supported by the National Natural Science Foundation of China (Grant No. 11601077)the Natural Science Foundation of Jiangsu Province (Grant No. BK20160662)。
文摘In this paper, a class of disturbed networked Euler-Lagrangian systems is investigated to track a general virtual signal under a general directed communication network. Firstly, a class of fixed-time distributed observer is constructed to estimate the leader's state. Secondly, a local anti-disturbance tracking control based on the previous distributed observer is proposed for each follower to achieve the tracking consensus in a fixed time. A simulation example is finally conducted to verify the proposed algorithm.
