基于干扰观测器的储能反步控制

当直流侧电压波动较大时,基于反步法设计的储能变流器无法依靠自身的鲁棒性平抑功率和直流电压波动.文章提出了一种基于干扰观测器的储能变流器反步控制算法,可提升控制器抗干扰的性能,有效抑制直流电压波动.首先建立双级式储能变流器数学模型并分析其工作原理;然后采用基于干扰观测器的反步法设计了储能变流器的控制器;最后,在Matla...     

基于LSSVM的卫星姿态控制系统故障诊断

提出了一种基于最小二乘支持向量机(LSSVM)非线性观测器的卫星姿态控制系统故障诊断方法。与标准的支持向量机回归算法相比,最小二乘支持向量机回归算法收敛速度快,适用于在线训练。该方法利用其回归逼近非线性函数的能力,设计基于最小二乘支持向量机的非线性系统状态观测器,在线训练最小二乘支持向量机回归,并用于估计卫星姿态控制系统故障。最后,通过仿真验证了这种方法可以快速准确地估计出卫星姿态控制系统的故障。     

基于观测器的卷绕物收卷张力控制系统的研究

本文以一类卷绕系统的收卷过程为研究对象,建立了其动态数学模型,提出了一种基于张力观测器的新型控制方案。笔者根据辊的动态转矩平衡方程式,利用系统原有的电机控制和速度检测信号,将观测的张力值作为反馈,构成张力闲环,从而实现无传感器反馈控制。最后,对这种方案进行了仿真。结果表明,本文提出的方案完全可以达到常规规方案的动态性能,具有较高的稳态精度。这充分说明了该算法是可行的。     

Positive input observer‐based controller design for blood glucose regulation for type 1 diabetic patients: A backstepping approach

In practice, there are many physical systems that can have only positive inputs, such as physiological systems. Most conventional control methods cannot ensure that the main system input is positive. A positive input observer‐based controller is designed for an intravenous glucose tolerance test model of type 1 diabetes mellitus (T1DM). The backstepping (BS) approach is employed to design the feedback controller for artificial pancreas (AP) systems, based on the Extended Bergman''s Minimal Model (EBMM). The EBMM represents the T1DM in terms of the blood glucose concentration (BGC), insulin concentration, and plasma level and the disturbance of insulin during medication due to either meal intake or burning sugar by doing some physical exercise. The insulin concentration and plasma level are estimated using observers, and these estimations are applied as feedback to the controller. The asymptotic stability of the observer‐based controller is proved using the Lyapunov theorem. Moreover, it is proved that the system is bounded input‐bounded output (BIBO) stable in the presence of uncertainties generated by uncertain parameters and external disturbance. For realistic situations, we consider only the BGC to be available for measurement and additionally inter‐and intra‐patient variability of system parameters is considered.     

Force,orientation and position control in redundant manipulators in prioritized scheme with null space compliance

This paper addresses the problem of executing multiple prioritized tasks for robot manipulators with compliant behavior in the remaining null space. A novel controller–observer is proposed to ensure accurate accomplishment of various tasks based on a predefined hierarchy using a new priority assignment approach. Force control, position control and orientation control are considered. Moreover, a compliant behavior is imposed in the null space to handle physical interaction without using joint torque measurements. Asymptotic stability of the task space error and external torque estimation error during executing multiple tasks are shown. The performance of the proposed approach is evaluated on a 7R light weight robot arm by several case studies.     

Global Practical Mittag Leffler Stabilization by Output Feedback for a Class Of Nonlinear Fractional‐Order Systems

In this paper, the problem of a global practical Mittag Leffler feedback stabilization for a class of nonlinear fractional order systems by means of observer is described. The linear matrix inequality approach is used to guarantee the practical stability of the proposed feedback fractional order system. An illustrative example is given to show the applicability of the results.     

关节型工业机器人扭转振动的伺服补偿技术研究

针对工业机器人用RV减速机传动误差所引起的动态失稳现象,在建立由驱动电机-RV减速机-负载所构成的机电耦合系统的基础上,同时考虑负载侧不宜安装传感器的限制条件,依据转矩波动引起转速波动的原理,将由状态观测器间接得到的能够反映转矩波动变化的状态变量——负载加速度变化率作为反馈控制量,对电磁转矩进行实时补偿。经系统的时频域性能分析证明,补偿后的电机转矩命令值抵消了转矩波动的影响,负载侧转速波动得到了很好的抑制,能够极大提高工业机器人在变工况下的动态工作精度。     

Adaptive neural prescribed performance output feedback control of pure feedback nonlinear systems using disturbance observer

In this study, an adaptive output feedback control with prescribed performance is proposed for unknown pure feedback nonlinear systems with external disturbances and unmeasured states. A novel prescribed performance function is developed and incorporated into an output error transformation to achieve tracking control with prescribed performance. To handle the unknown non-affine nonlinearities and avoid the algebraic loop problem, the radial basis function neural network (RBFNN) is adopted to approximate the unknown non-affine nonlinearities with the help of Butterworth low-pass filter. Based on the output of the RBFNN, the coupled design between sate observer and disturbance observer is presented to estimate the unmeasured states and compounded disturbances. Then, the adaptive output feedback control scheme is proposed for unknown pure feedback nonlinear systems, where a first-order filter is introduced to tackle with the issue of “explosion of complexity” in the traditional back-stepping approach. The boundedness and convergence of the closed-loop system are proved rigorously by utilizing the Lyapunov stability theorem. Finally, simulation studies are worked out to demonstrate the effectiveness of the proposed scheme.     

Robust fault estimation based on learning observer for Takagi-Sugeno fuzzy systems with interval time-varying delay

This paper studies the problem of robust fault estimation for a class of Takagi-Sugeno(T-S) fuzzy systems which subject to interval time-varying delay, external disturbance, and actuator fault. The designed learning observer can achieve simultaneous estimation of system state and time-varying or constant actuator fault. Then, we construct a new Lyapunov-Krasovskii functional including the information of the lower and upper delay bounds; compared with the time-varying delay, the interval time-varying delay is the less conservative form. Furthermore, one less conservative delay-dependent condition for the existence of learning observer is given in terms of linear matrix inequalities. In addition, the results for the systems with interval time-varying delay are simplified when the delay is not concluded. Finally, simulation results of two examples are presented to show the effectiveness of the proposed method.