具有输入饱和的环形永磁力矩电动机自适应鲁棒控制

五轴联动数控机床中复合A/C轴直接驱动环形永磁力矩电动机伺服系统在输入饱和情况时易导致系统性能变差,甚至引起系统不稳定。针对系统中的输入饱和问题,基于反步法设计了饱和自适应鲁棒位置控制器,即设计一个虚拟控制律保证误差信号在每一步都收敛且有界。在控制器设计中构建非降函数处理执行器饱和,将控制输入限制在饱和范围内;对于参数不确定性,采用不连续投影算法进行在线参数估计。仿真结果表明该方法不仅使伺服系统在无输入饱和情况下具有较好的伺服性能,输入饱和情况下也能实现良好的跟踪性能。     

Robust adaptive fuzzy tracking control for a class of strict-feedback nonlinear systems based on backstepping technique

In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme.     

基于Backstepping的倒立摆鲁棒跟踪控制

针对内部参数不确定及存在外部干扰的非线性倒立摆系统,提出了基于Backstepping方法的滑模变结构控制律,并且采用RBF神经网络逼近系统不确定非线性函数,同时引入滑模误差对其神经网络权值进行在线自适应调整,使神经网络的逼近速度加快,改善了动态性能.该控制律能保证倒立撰轨迹跟踪误差的快速收敛性以及对外部扰动和内部参数不确定的不敏感性,最后给出的仿真实例证明了该理论分析结果的正确性,控制效果良好.     

Direct adaptive fuzzy control of nonlinear strict-feedback systems

This paper focuses on adaptive fuzzy tracking control for a class of uncertain single-input /single-output nonlinear strict-feedback systems. Fuzzy logic systems are directly used to approximate unknown and desired control signals and a novel direct adaptive fuzzy tracking controller is constructed via backstepping. The proposed adaptive fuzzy controller guarantees that the output of the closed-loop system converges to a small neighborhood of the reference signal and all the signals in the closed-loop system remain bounded. A main advantage of the proposed controller is that it contains only one adaptive parameter that needs to be updated online. Finally, an example is used to show the effectiveness of the proposed approach.     

Control Lyapunov functions for adaptive nonlinear stabilization

For the problem of stabilization of nonlinear systems linear in unknown constant parameters, we introduce the concept of an adaptive control Lyapunov function (aclf) and use Sontag's constructive proof of Artstein's theorem to design an adaptive controller. In this framework the problem of adaptive stabilization of a nonlinear system is reduced to the problem of nonadaptive stabilization of a modified system. To illustrate the construction of aclf's we give an adaptive backstepping lemma which recovers our earlier design.     

Robust backstepping control of an interlink converter in a hybrid AC/DC microgrid based on feedback linearisation method

This paper presents a robust dc-link voltage as well as a current control strategy for a bidirectional interlink converter (BIC) in a hybrid ac/dc microgrid. To enhance the dc-bus voltage control, conventional methods strive to measure and feedforward the load or source power in the dc-bus control scheme. However, the conventional feedforward-based approaches require remote measurement with communications. Moreover, conventional methods suffer from stability and performance issues, mainly due to the use of the small-signal-based control design method. To overcome these issues, in this paper, the power from DG units of the dc subgrid imposed on the BIC is considered an unmeasurable disturbance signal. In the proposed method, in contrast to existing methods, using the nonlinear model of BIC, a robust controller that does not need the remote measurement with communications effectively rejects the impact of the disturbance signal imposed on the BIC's dc-link voltage. To avoid communication links, the robust controller has a plug-and-play feature that makes it possible to add a DG/load to or remove it from the dc subgrid without distorting the hybrid microgrid stability. Finally, Monte Carlo simulations are conducted to confirm the effectiveness of the proposed control strategy in MATLAB/SimPowerSystems software environment.     

Lyapunov vector function method in the motion stabilisation problem for nonholonomic mobile robot

In this paper we propose a sampled-data control law in the stabilisation problem of nonstationary motion of nonholonomic mobile robot. We assume that the robot moves on a horizontal surface without slipping. The dynamical model of a mobile robot is considered. The robot has one front free wheel and two rear wheels which are controlled by two independent electric motors. We assume that the controls are piecewise constant signals. Controller design relies on the backstepping procedure with the use of Lyapunov vector-function method. Theoretical considerations are verified by numerical simulation.     

Experimental sensorless control for IPMSM by using integral backstepping strategy and adaptive high gain observer

In this paper a robust sensorless control for an Interior Permanent Magnet Synchronous Motor (IPMSM) is designed. The proposed control strategy uses a backstepping controller, whose robustness is improved by using integral actions added at each step of the original algorithm, and by a Maximum-Torque-Per-Ampere strategy (MTPA) to improve its energy efficient operation. Furthermore, to implement this controller in the framework of the mechanical sensorless control from the only measurements of the currents and voltages, an adaptive interconnected high gain observer is developed for estimating the rotor speed, the position and the load torque. Moreover, sufficient conditions are given to ensure the practical stability of the Observer-Controller system even if bounded uncertainties occur. Finally, the performance and the effectiveness of the designed method are tested experimentally throw a significant benchmark including different speed references and with significant robustness tests. A comparative evaluation of the computational effort of our scheme with respect to classical motor control is given.     

Predictor-based control for an inverted pendulum subject to networked time delay

The inverted pendulum is considered as a special class of underactuated mechanical systems with two degrees of freedom and a single control input. This mechanical configuration allows to transform the underactuated system into a nonlinear system that is referred to as the normal form, whose control design techniques for stabilization are well known. In the presence of time delays, these control techniques may result in inadequate behavior and may even cause finite escape time in the controlled system. In this paper, a constructive method is presented to design a controller for an inverted pendulum characterized by a time-delayed balance control. First, the partial feedback linearization control for the inverted pendulum is modified and coupled with a state predictor to compensate for the delay. Several coordinate transformations are processed to transform the estimated partial linearized system into an upper-triangular form. Second, nested saturation and backstepping techniques are combined to derive the control law of the transformed system that would complete the design of the whole control input. The effectiveness of the proposed technique is illustrated by numerical simulations.     

A direct power control of a DFIG based-WECS during symmetrical voltage dips

The Wind Energy Conversion System (WECS) based Doubly Fed Induction Generator (DFIG) has experienced a rapid development in the world, which leads to an increasing insertion of this source of energy in the electrical grids. The sudden and temporary drop of voltage at the network can affect the operation of the DFIG; the voltage dips produce high peak currents on the stator and rotor circuits, without protection, the rotor side converter (RSC) will suffer also from over-current limit, consequently, the RSC may even be destroyed and the generator be damaged. In this paper a new Direct Power Control (DPC) method was developed, in order to control the stator powers and help the operation of the aero-generator during the faults grid; by injecting the reactive power into the network to contribute to the return of voltage, and set the active power to the optimum value to suppress the high peak currents. The DPC method was designed using the nonlinear Backstepping (BS) controller associated with the Lyapunov function to ensure the stability and robustness of the system. A comparison study was undertaken to verify the robustness and effectiveness of the DPC-BS to that of the classical vector control (VC) using Proportional- Integral (PI) correctors. All were simulated under the Simulink® software.