The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states ...The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states and the uncertainties.Then,a Dynamic Surface Control(DSC)scheme is developed by using the estimation of HGO.The newly proposed controller has two advantages over the existing methods:(A)a novel Spike Suppression Function(SSF)is developed to avoid the estimation spike problem in the existing HGO-based controllers.(B)Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states,the proposed HGO can estimate both the unmeasurable states and uncertainties.The closed-loop system stability is proved by the Lyapunov theory.Simulation results demonstrate the effectiveness of the proposed controller.展开更多
The current-pulse load is generally characterized by wide frequency band and pulse variation,when it is directly connected to the power supply bus.The load power is presented as the instantaneous power.In order to bal...The current-pulse load is generally characterized by wide frequency band and pulse variation,when it is directly connected to the power supply bus.The load power is presented as the instantaneous power.In order to balance the instantaneous power difference between the pulse load and the DC bus,a bi-directional DC/DC converter is usually connected in parallel to compensate for the current fluctuation caused by the characteristics of the pulse load.However,there is a large current spike in the bus current in the pre-stage when the pulse load is changed between light and heavy load.In this paper,a three-state dual-inductance bi-directional converter is proposed.In addition,the load current waveform is directly used to control the inductive branch switches,and an adaptive current feedback control strategy based on the valley voltage loop is proposed to control the power switches.The control method is applicable to the arbitrary change of the frequency and power of the pulse load.Finally,the experimental results show that the threestate dual-inductance bi-directional converter not only eliminates excessive bus current spikes,but also improves the transient response of the three-port power supply system.展开更多
基金co-supported by Natural Science Foundation of Shaanxi Province(Nos.2020JM-131,2020KW-058)the Key Research and Development Program of Shaanxi,China(Nos.2019GY-025,2018GY-091)+1 种基金Xi’an Science and Technology Plan Project,China(No.2020KJRC0134)Special Fund for High Level Talents of Xijing University,China(No.XJ20B07)。
文摘The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states and the uncertainties.Then,a Dynamic Surface Control(DSC)scheme is developed by using the estimation of HGO.The newly proposed controller has two advantages over the existing methods:(A)a novel Spike Suppression Function(SSF)is developed to avoid the estimation spike problem in the existing HGO-based controllers.(B)Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states,the proposed HGO can estimate both the unmeasurable states and uncertainties.The closed-loop system stability is proved by the Lyapunov theory.Simulation results demonstrate the effectiveness of the proposed controller.
基金This work was supported by the National Natural Science Foundation of China under Grant 61601378the Sichuan Science and Technology Program under Grant 2019YJ0237Foundation of Key Laboratory of Magnetic Suspension Technology and Maglev Vehicle,Ministry of Education.
文摘The current-pulse load is generally characterized by wide frequency band and pulse variation,when it is directly connected to the power supply bus.The load power is presented as the instantaneous power.In order to balance the instantaneous power difference between the pulse load and the DC bus,a bi-directional DC/DC converter is usually connected in parallel to compensate for the current fluctuation caused by the characteristics of the pulse load.However,there is a large current spike in the bus current in the pre-stage when the pulse load is changed between light and heavy load.In this paper,a three-state dual-inductance bi-directional converter is proposed.In addition,the load current waveform is directly used to control the inductive branch switches,and an adaptive current feedback control strategy based on the valley voltage loop is proposed to control the power switches.The control method is applicable to the arbitrary change of the frequency and power of the pulse load.Finally,the experimental results show that the threestate dual-inductance bi-directional converter not only eliminates excessive bus current spikes,but also improves the transient response of the three-port power supply system.
