In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a...In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.展开更多
This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay ...This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.展开更多
A model-free adaptive control method is proposed for the spacecrafts whose dynamical parameters change over time and cannot be acquired accurately. The algorithm is based on full form dynamic linearization.A dimension...A model-free adaptive control method is proposed for the spacecrafts whose dynamical parameters change over time and cannot be acquired accurately. The algorithm is based on full form dynamic linearization.A dimension reduction matrix is introduced to construct an augmented system with the same dimension input and output. The design of the controller depends on the system input and output data rather than the knowledge of the controlled plant. The numerical simulation results show that the improved controller can deal with different models with the same set of controller parameters,and the controller performance is better than that of PD controller for the time-varying system with disturbance.展开更多
Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This p...Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This paper presents a model-free adaptive control(MFAC) strategy to track the desired trajectory under different gravity environment. A dynamic transformation method and full form dynamic linearization(FFDL) approach are selected to dynamicly linearize the system, which can better eliminate the complex dynamics that may exist in the original system. The controlled object uses the two degrees of freedom of space manipulator and the controller only depends on the desired angle and torque of each joint of the space manipulator. Moreover, the proof of stability is also provided. Finally, simulation results are presented to demonstrate the effectiveness of the proposed strategy. It is shown that the proposed approach can achieve better trajectory tracking performance under different gravity environment without changing the control parameters, and the tracking precision can be significantly improved as compared with the proportional differential(PD) control results.展开更多
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
The operating frequency accuracy of the local oscillators is critical for the overall system performance in the communication systems.However,the high-precision oscillators could be too expensive for civil application...The operating frequency accuracy of the local oscillators is critical for the overall system performance in the communication systems.However,the high-precision oscillators could be too expensive for civil applications.In this paper,we propose a model-free adaptive frequency calibration framework for a voltage-controlled crystal oscillator(VCO)equipped with a time to digital converter(TDC),which can significantly improve the frequency accuracy of the VCO thus calibrated.The idea is to utilize a high-precision TDC to directly measure the VCO period which is then passed to a model-free method for working frequency calibration.One advantage of this method is that the working frequency calibration employs the system history of input/output(I/O)data,instead of establishing an accurate VCO voltagecontrolled oscillator model.Another advantage is the lightweight calibration method with low complexity such that it can be implemented on an MCU with limited computation capabilities.Experimental results show that the proposed calibration method can improve the frequency accuracy of a VCO from±20 ppm to±10 ppb,which indicates the promise of the modelfree adaptive frequency calibrator for VCOs.展开更多
Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and ...Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.展开更多
This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Co...This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.展开更多
This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncerta...This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.展开更多
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic perf...An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.展开更多
To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method...To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.展开更多
In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number...In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.展开更多
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base...The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.展开更多
The combination of structural health monitoring and vibration control is of great importance to provide components of smart structures.While synthetic algorithms have been proposed,adaptive control that is compatible ...The combination of structural health monitoring and vibration control is of great importance to provide components of smart structures.While synthetic algorithms have been proposed,adaptive control that is compatible with changing conditions still needs to be used,and time-varying systems are required to be simultaneously estimated with the application of adaptive control.In this research,the identification of structural time-varying dynamic characteristics and optimized simple adaptive control are integrated.First,reduced variations of physical parameters are estimated online using the multiple forgetting factor recursive least squares(MFRLS)method.Then,the energy from the structural vibration is simultaneously specified to optimize the control force with the identified parameters to be operational.Optimization is also performed based on the probability density function of the energy under the seismic excitation at any time.Finally,the optimal control force is obtained by the simple adaptive control(SAC)algorithm and energy coefficient.A numerical example and benchmark structure are employed to investigate the efficiency of the proposed approach.The simulation results revealed the effectiveness of the integrated online identification and optimal adaptive control in systems.展开更多
In this paper,we consider a 2-degrees-of-freedom(DOF)helicopter system subject to long input delays and uncertain system parameters.To address the challenges including unknown system parameters and input delays in con...In this paper,we consider a 2-degrees-of-freedom(DOF)helicopter system subject to long input delays and uncertain system parameters.To address the challenges including unknown system parameters and input delays in control design,we develop an adaptive predictor-feedback control law to achieve trajectory tracking.Stability of the closed-loop system is further established,where the tracking errors are shown to converge towards zero.Through simulation and experiments on the helicopter system,we illustrate that tracking of a desired trajectory is achieved with the proposed control scheme.展开更多
As government agencies continue to tighten emissions regulations due to the continued increase in greenhouse gas production, automotive industries are seeking to produce increasingly efficient vehicle technology. Hybr...As government agencies continue to tighten emissions regulations due to the continued increase in greenhouse gas production, automotive industries are seeking to produce increasingly efficient vehicle technology. Hybrid electric vehicles (HEVs) have been introduced to mitigate problems while improving fuel economy. HEVs have led to the demand of creating more advanced controls software to consider multiple components for propulsive power in a vehicle. A large section in the software development process is the implementation of an optimal energy management strategy meant to improve the overall fuel efficiency of the vehicle. Optimal strategies can be implemented when driving conditions are known a prior. The Equivalent Consumption Minimization Strategy (ECMS) is an optimal control strategy that uses an equivalence factor to equate electrical to mechanical power when performing torque split determination between the internal combustion engine and electric motor for propulsive and regenerative torque. This equivalence factor is determined from offline vehicle simulations using a sensitivity analysis to provide optimal fuel economy results while maintaining predetermined high voltage battery state of charge (SOC) constraints. When the control hierarchy is modified or different driving styles are applied, the analysis must be redone to update the equivalence factor. The goal of this work is to implement a fuzzy logic controller that dynamically updates the equivalence factor to improve fuel economy, maintain a strict charge sustaining window of operation for the high voltage battery, and reduce computational time required during algorithm development. The adaptive algorithm is validated against global optimum fuel economy and charge sustaining results from a sensitivity analysis performed for multiple drive cycles. Results show a maximum fuel economy improvement of 9.82% when using a mild driving style and a 95% success rate when maintaining an ending SOC within 5% of the desired SOC regardless of starting SOC.展开更多
In the DC microgrid,the lack of inertia and damping in power electronic converters results in poor stability of DC bus voltage and low inertia of the DC microgrid during fluctuations in load and photovoltaic power.To ...In the DC microgrid,the lack of inertia and damping in power electronic converters results in poor stability of DC bus voltage and low inertia of the DC microgrid during fluctuations in load and photovoltaic power.To address this issue,the application of a virtual synchronous generator(VSG)in grid-connected inverters control is referenced and proposes a control strategy called the analogous virtual synchronous generator(AVSG)control strategy for the interface DC/DC converter of the battery in the microgrid.Besides,a flexible parameter adaptive control method is introduced to further enhance the inertial behavior of the AVSG control.Firstly,a theoretical analysis is conducted on the various components of the DC microgrid,the structure of analogous virtual synchronous generator,and the control structure’s main parameters related to the DC microgrid’s inertial behavior.Secondly,the voltage change rate tracking coefficient is introduced to adjust the change of the virtual capacitance and damping coefficient flexibility,which further strengthens the inertia trend of the DC microgrid.Additionally,a small-signal modeling approach is used to analyze the approximate range of the AVSG’s main parameters ensuring system stability.Finally,conduct a simulation analysis by building the model of the DC microgrid system with photovoltaic(PV)and battery energy storage(BES)in MATLAB/Simulink.Simulation results from different scenarios have verified that the AVSG control introduces fixed inertia and damping into the droop control of the battery,resulting in a certain level of inertia enhancement.Furthermore,the additional adaptive control strategy built upon the AVSG control provides better and flexible inertial support for the DC microgrid,further enhances the stability of the DC bus voltage,and has a more positive impact on the battery performance.展开更多
基金supported in part by the National Natural Science Foundation of China(U1804147,61833001,61873139,61573129)the Innovative Scientists and Technicians Team of Henan Polytechnic University(T2019-2)the Innovative Scientists and Technicians Team of Henan Provincial High Education(20IRTSTHN019)。
文摘In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.
基金supported by the Natural Science Foundation of Jiangsu Province(BK20201159).
文摘This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.
基金Sponsored by the National Natural Science Foundation of China(Grant No.11102007)the Fundamental Research Fund for the Central Universities(Grant No.YWF-14-YHXY-012)
文摘A model-free adaptive control method is proposed for the spacecrafts whose dynamical parameters change over time and cannot be acquired accurately. The algorithm is based on full form dynamic linearization.A dimension reduction matrix is introduced to construct an augmented system with the same dimension input and output. The design of the controller depends on the system input and output data rather than the knowledge of the controlled plant. The numerical simulation results show that the improved controller can deal with different models with the same set of controller parameters,and the controller performance is better than that of PD controller for the time-varying system with disturbance.
基金Sponsored by the National Natural Science Foundation of China(No.51605415)Natural Science Foundation of Hebei Province(No.F2016203494,E2017203240)。
文摘Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This paper presents a model-free adaptive control(MFAC) strategy to track the desired trajectory under different gravity environment. A dynamic transformation method and full form dynamic linearization(FFDL) approach are selected to dynamicly linearize the system, which can better eliminate the complex dynamics that may exist in the original system. The controlled object uses the two degrees of freedom of space manipulator and the controller only depends on the desired angle and torque of each joint of the space manipulator. Moreover, the proof of stability is also provided. Finally, simulation results are presented to demonstrate the effectiveness of the proposed strategy. It is shown that the proposed approach can achieve better trajectory tracking performance under different gravity environment without changing the control parameters, and the tracking precision can be significantly improved as compared with the proportional differential(PD) control results.
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
文摘The operating frequency accuracy of the local oscillators is critical for the overall system performance in the communication systems.However,the high-precision oscillators could be too expensive for civil applications.In this paper,we propose a model-free adaptive frequency calibration framework for a voltage-controlled crystal oscillator(VCO)equipped with a time to digital converter(TDC),which can significantly improve the frequency accuracy of the VCO thus calibrated.The idea is to utilize a high-precision TDC to directly measure the VCO period which is then passed to a model-free method for working frequency calibration.One advantage of this method is that the working frequency calibration employs the system history of input/output(I/O)data,instead of establishing an accurate VCO voltagecontrolled oscillator model.Another advantage is the lightweight calibration method with low complexity such that it can be implemented on an MCU with limited computation capabilities.Experimental results show that the proposed calibration method can improve the frequency accuracy of a VCO from±20 ppm to±10 ppb,which indicates the promise of the modelfree adaptive frequency calibrator for VCOs.
基金supported in part by the National Natural Science Foundation of China(62222301, 62073085, 62073158, 61890930-5, 62021003)the National Key Research and Development Program of China (2021ZD0112302, 2021ZD0112301, 2018YFC1900800-5)Beijing Natural Science Foundation (JQ19013)。
文摘Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.
基金supported in part by the National Natural Science Foundation of China (62173182,61773212)the Intergovernmental International Science and Technology Innovation Cooperation Key Project of Chinese National Key R&D Program (2021YFE0102700)。
文摘This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.
基金partially supported by the Natural Science Foundation of China (Grant Nos.62103052,52272358)partially supported by the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金supported by the National Natural Science Foundation of China (6207319761933006)National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong University (BMRV20KF08)。
文摘An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.
基金financially supported by the National Natural Science Foundation of China(Grant 52175099)the China Postdoctoral Science Foundation(Grant No.2020M671494)+1 种基金the Jiangsu Planned Projects for Postdoctoral Research Funds(Grant No.2020Z179)the Nanjing University of Science and Technology Independent Research Program(Grant No.30920021105)。
文摘To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
基金supported in part by the National Key Research and Development Program of China(2018YFA0702200)the National Natural Science Foundation of China(52377079,62203097,62373196)。
文摘In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.
基金the China Scholarship Council(202106690037)the Natural Science Foundation of Anhui Province(19080885QE194)。
文摘The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
文摘The combination of structural health monitoring and vibration control is of great importance to provide components of smart structures.While synthetic algorithms have been proposed,adaptive control that is compatible with changing conditions still needs to be used,and time-varying systems are required to be simultaneously estimated with the application of adaptive control.In this research,the identification of structural time-varying dynamic characteristics and optimized simple adaptive control are integrated.First,reduced variations of physical parameters are estimated online using the multiple forgetting factor recursive least squares(MFRLS)method.Then,the energy from the structural vibration is simultaneously specified to optimize the control force with the identified parameters to be operational.Optimization is also performed based on the probability density function of the energy under the seismic excitation at any time.Finally,the optimal control force is obtained by the simple adaptive control(SAC)algorithm and energy coefficient.A numerical example and benchmark structure are employed to investigate the efficiency of the proposed approach.The simulation results revealed the effectiveness of the integrated online identification and optimal adaptive control in systems.
基金partially supported by the DEEPCOBOT project under Grant 306640/O70 funded by the Research Council of Norway.
文摘In this paper,we consider a 2-degrees-of-freedom(DOF)helicopter system subject to long input delays and uncertain system parameters.To address the challenges including unknown system parameters and input delays in control design,we develop an adaptive predictor-feedback control law to achieve trajectory tracking.Stability of the closed-loop system is further established,where the tracking errors are shown to converge towards zero.Through simulation and experiments on the helicopter system,we illustrate that tracking of a desired trajectory is achieved with the proposed control scheme.
文摘As government agencies continue to tighten emissions regulations due to the continued increase in greenhouse gas production, automotive industries are seeking to produce increasingly efficient vehicle technology. Hybrid electric vehicles (HEVs) have been introduced to mitigate problems while improving fuel economy. HEVs have led to the demand of creating more advanced controls software to consider multiple components for propulsive power in a vehicle. A large section in the software development process is the implementation of an optimal energy management strategy meant to improve the overall fuel efficiency of the vehicle. Optimal strategies can be implemented when driving conditions are known a prior. The Equivalent Consumption Minimization Strategy (ECMS) is an optimal control strategy that uses an equivalence factor to equate electrical to mechanical power when performing torque split determination between the internal combustion engine and electric motor for propulsive and regenerative torque. This equivalence factor is determined from offline vehicle simulations using a sensitivity analysis to provide optimal fuel economy results while maintaining predetermined high voltage battery state of charge (SOC) constraints. When the control hierarchy is modified or different driving styles are applied, the analysis must be redone to update the equivalence factor. The goal of this work is to implement a fuzzy logic controller that dynamically updates the equivalence factor to improve fuel economy, maintain a strict charge sustaining window of operation for the high voltage battery, and reduce computational time required during algorithm development. The adaptive algorithm is validated against global optimum fuel economy and charge sustaining results from a sensitivity analysis performed for multiple drive cycles. Results show a maximum fuel economy improvement of 9.82% when using a mild driving style and a 95% success rate when maintaining an ending SOC within 5% of the desired SOC regardless of starting SOC.
基金funded by the National Natural Science Foundation of China(52067013),and the Provincial Natural Science Foundation of Gansu(20JR5RA395).
文摘In the DC microgrid,the lack of inertia and damping in power electronic converters results in poor stability of DC bus voltage and low inertia of the DC microgrid during fluctuations in load and photovoltaic power.To address this issue,the application of a virtual synchronous generator(VSG)in grid-connected inverters control is referenced and proposes a control strategy called the analogous virtual synchronous generator(AVSG)control strategy for the interface DC/DC converter of the battery in the microgrid.Besides,a flexible parameter adaptive control method is introduced to further enhance the inertial behavior of the AVSG control.Firstly,a theoretical analysis is conducted on the various components of the DC microgrid,the structure of analogous virtual synchronous generator,and the control structure’s main parameters related to the DC microgrid’s inertial behavior.Secondly,the voltage change rate tracking coefficient is introduced to adjust the change of the virtual capacitance and damping coefficient flexibility,which further strengthens the inertia trend of the DC microgrid.Additionally,a small-signal modeling approach is used to analyze the approximate range of the AVSG’s main parameters ensuring system stability.Finally,conduct a simulation analysis by building the model of the DC microgrid system with photovoltaic(PV)and battery energy storage(BES)in MATLAB/Simulink.Simulation results from different scenarios have verified that the AVSG control introduces fixed inertia and damping into the droop control of the battery,resulting in a certain level of inertia enhancement.Furthermore,the additional adaptive control strategy built upon the AVSG control provides better and flexible inertial support for the DC microgrid,further enhances the stability of the DC bus voltage,and has a more positive impact on the battery performance.