Adaptive fuzzy decentralized control for nonlinear large-scale systems based on high-gain observer

An adaptive fuzzy decentralized backstepping output-feedback control approach is proposed for a class of nonlinear large-scale systems with completely unknown functions,the interconnections mismatched in control inputs,and without the measurements of the states.Fuzzy logic systems are employed to approximate the unknown nonlinear functions,and an adaptive high-gain observer is developed to estimate the unmeasured states.Using the designed high-gain observer,and combining the fuzzy adaptive control theory with backstepping approach,an adaptive fuzzy decentralized backstepping output-feedback control scheme is developed.It is proved that the proposed control approach can guarantee that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded(SUUB),and that the observer errors and the tracking errors converge to a small neighborhood of the origin by appropriate choice of the design parameters.Finally,a simulation example is provided to show the eectiveness of the proposed approach.     

Positive state‐bounding observer for positive interval continuous‐time systems with time delay

This paper is concerned with the problem of positive observer synthesis for positive systems with both interval parameter uncertainties and time delay. Conventional observers may no longer be applicable for such kind of systems due to the positivity constraint on the observers, and they only provide an estimate of the system state in an asymptotic way. A pair of positive observers with state‐bounding feature is proposed to estimate the state of positive systems at all times in this paper. A necessary and sufficient condition for the existence of desired observers is first established, and the observer matrices can be obtained easily through the solutions of a set of linear matrix inequalities (LMIs). Then, to reduce the error signal between the system state and its estimates, an iterative LMI algorithm is developed to compute the optimized state‐bounding observer matrices. Finally, a numerical example is presented to show the effectiveness and applicability of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Sliding mode control with disturbance observer for a class of nonlinear systems

This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturbance observer is proposed to estimate disturbance approximatively. Secondly, since the bound of the disturbance observer error is unknown, an adaptive sliding mode controller is designed to guarantee that the state of system asymptotically converges to zero and the unknown bound can be adjusted by an adaptive law. Finally, an example is given to illustrate the effectiveness of the proposed method.     

Observer‐based Reliable Control for Discrete Time Systems: An Average Dwell Time Approach

This paper deals with the problem of reliable control for discrete time systems with actuator failures. The actuator is assumed to fail occasionally and can recover over a time interval. During the time of suffering failures, the considered closed‐loop system is assumed unstable. Using an average dwell time method and under the condition that the activation time ratio between the system without actuator failures and the system with actuator failures is not less than a specified constant, an observer‐based feedback controller is developed in terms of linear matrix inequalities such that the resulting closed‐loop system is exponentially stable. An example is included to demonstrate the effectiveness of the proposed approach.     

线性系统的H2/H-故障检测优化方法设计

针对一类具有未知扰动的线性系统的故障检测(FD)问题,通过对系统进行重构,设计出了系统的H2/H-优化FD观测器。利用构造的Lyapunov函数和线性矩阵不等式,证明并给出了FD观测器有解的充分条件和优化设计方法。所设计的观测器使系统具有渐近稳定性,抑制干扰能力强,满足所给的范数指标。仿真结果验证了所设计方法的有效性。     

基于VGLESO和滑模理论的直流配电网母线电压控制策略

针对直流配电网母线电压稳定性问题,设计了一种变增益线性扩张状态观测器(variable gain linear extended state observer,VGLESO),有效地解决了传统高增益线性扩张状态观测器(linear extended state observer extended state observer,LESO)在运行初始阶段输出存在峰值的问题。在此基础上进一步提出了一种变增益滑模自抗扰控制策略,将其应用到直流配电网AC-DC双向变流器控制系统中的电压外环。变增益滑模自抗扰控制策略在不需要增加额外电流传感器的情况下,就能够实现对系统总扰动的快速跟踪和补偿,有效地抑制了母线电压波动,提高了系统的动态响应。从理论上证明了VGLESO和变增益滑模自抗扰控制策略的稳定性。最后通过MATLAB/Simulink验证了该控制策略的可行性与正确性。     

基于协同观测器的永磁同步电机无传感控制

针对传统滑模观测器使用符号函数引起的抖振问题,提出了一种基于连续函数的协同观测器方法,实现永磁同步电机(PMSM)的无传感控制。首先,研究PMSM的离散数学模型。其次,建立k+1时刻的电流偏差和k时刻的电流偏差之间的函数关系。最后,利用反正切函数计算转子位置并加入角度补偿,提高观测精度。仿真结果表明,所设计的协同观测器不仅无抖振现象,还具有更高的估算精度及良好的抗干扰性能,比传统滑模观测器可以更好地实现PMSM的无传感控制。     

基于观测器摩擦补偿的机电系统高精度控制

针对机电作动系统在低速阶段摩擦非线性明显且同时存在其他干扰,易导致系统跟踪精度、稳定性下降这一问题,设计基于非线性观测器摩擦补偿的自适应鲁棒控制器. 针对摩擦非线性,利用LuGre摩擦模型描述系统的摩擦现象,提出非线性观测器对模型的内部摩擦状态进行观测. 针对系统摩擦系数、转动惯量及其他不确定性参数,设计参数自适应律进行估计. 利用前馈补偿的方法,对摩擦非线性和参数不确定性进行补偿,设计鲁棒项克服系统的其他扰动. 利用Lyapunov稳定性定理证明了提出的控制器在存在扰动的情况下可以实现系统的有界稳定性. 实验结果表明,提出的控制器具有较高的控制精度与较强的鲁棒性,跟踪精度较传统的PID控制器提高了一个数量级.