期刊文献+
共找到46篇文章
< 1 2 3 >
每页显示 20 50 100
Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults 被引量:1
1
作者 Li-Ying Hao Gege Dong +1 位作者 Tieshan Li Zhouhua Peng 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期956-964,共9页
This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles in... This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method. 展开更多
关键词 Actuator faults autonomous surface vehicle(ASVs) improved artificial potential function nonlinear state observer obstacle avoidance
下载PDF
DESIGN OF NONLINEAR OBSERVER FOR NONLINEAR SYSTEM BASED ON RBF NEURAL NETWORKS
2
作者 龚华军 Chowdhury F N 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2006年第4期311-315,共5页
A new type of nonlinear observer for nonlinear systems is presented. Instead of approximating thc cntire nonlinear system with the neural network (NN), only the un-modeled part left over after the lincarization is a... A new type of nonlinear observer for nonlinear systems is presented. Instead of approximating thc cntire nonlinear system with the neural network (NN), only the un-modeled part left over after the lincarization is approximated. Compared with the conventional linear observer, the observer provides more accurate estimation of the state. The state estimation error is proved to asymptotically approach zero with the Lyapunov method. The simulation result shows that the proposed observer scheme is effective and has a potential application ability in the fault detection and identification (FDI), and the state estimation. 展开更多
关键词 observer nonlinear system state estimation neural network
下载PDF
Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation 被引量:7
3
作者 E Prempain 《International Journal of Automation and computing》 EI 2006年第1期84-90,共7页
This paper presents an observer-based nonlinear control method that was developed and implemented to provide accurate tracking control of a limited angle torque motor following a 50Hz reference waveform. The method is... This paper presents an observer-based nonlinear control method that was developed and implemented to provide accurate tracking control of a limited angle torque motor following a 50Hz reference waveform. The method is based on a robust nonlinear observer, which is used to estimate system states and perturbations and then employ input-output feedbazk linearization to compensate for the system nonlinearities and uncertainties. The estimation of system states and perturbations allows input-output linearization of the nonlinear system without an accurate mathematical model of nominal plant. The simulation results show that the observer-based nonlinear control method is superior in comparison with the conventional model-based state feedback linearizing controller. 展开更多
关键词 Torque motor nonlinear observer fictitious state perturbation estimation.
下载PDF
Nonlinear observer-controller design for dynamic positioning of ships 被引量:2
4
作者 何黎明 田作华 施颂椒 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2004年第3期359-363,共5页
The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varyin... The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varying environmental disturbances and the velocity, which are used in a proportional-derivative (PD) + feedforward control law. The stability of this observer-controller system is proved by introducing a specific nonlinear cascaded system. The simulation results have successfully demonstrated the performance of designed DP control system. 展开更多
关键词 dynamic positioning nonlinear observer nonlinear PD + feedforward control stability analysis.
下载PDF
Dynamic Surface Control with Nonlinear Disturbance Observer for Uncertain Flight Dynamic System 被引量:3
5
作者 李飞 胡剑波 +1 位作者 吴俊 王坚浩 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2015年第4期469-476,共8页
A new robust control method of a nonlinear flight dynamic system with aerodynamic coefficients and external disturbance has been proposed.The proposed control system is a combination of the dynamic surface control(DSC... A new robust control method of a nonlinear flight dynamic system with aerodynamic coefficients and external disturbance has been proposed.The proposed control system is a combination of the dynamic surface control(DSC)and the nonlinear disturbance observer(NDO).DSC technique provides the ability to overcome the″explosion of complexity″problem in backstepping control.NDO is adopted to observe the uncertainties in nonlinear flight dynamic system.It has been proved that the proposed design method can guarantee uniformly ultimately boundedness of all the signals in the closed-loop system by Lyapunov stability theorem.Finally,simulation results show that the proposed controller provides better performance than the traditional nonlinear controller. 展开更多
关键词 nonlinear disturbance observer(NDO) dynamic surface control(DSC) UNCERTAINTIES flight control
下载PDF
Optimal State Estimation and Fault Diagnosis for a Class of Nonlinear Systems 被引量:1
6
作者 Hamed Kazemi Alireza Yazdizadeh 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2020年第2期517-526,共10页
This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.B... This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.By utilizing Lyapunov's direct method,the observer is proved to be optimal with respect to a performance function,including the magnitude of the observer gain and the convergence time.The observer gain is obtained by using approximation of Hamilton-Jacobi-Bellman(HJB)equation.The approximation is determined via an online trained neural network(NN).Next a class of affine nonlinear systems is considered which is subject to unknown disturbances in addition to fault signals.In this case,for each fault the original system is transformed to a new form in which the proposed optimal observer can be applied for state estimation and fault detection and isolation(FDI).Simulation results of a singlelink flexible joint robot(SLFJR)electric drive system show the effectiveness of the proposed methodology. 展开更多
关键词 Differential geometry fault detection and isolation(FDI) fault diagnosis neural network(NN) nonlinear observer and filter design optimal state estimation
下载PDF
Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
7
作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
下载PDF
THE EFFECTIVENESS OF GENETIC ALGORITHM IN CAPTURING CONDITIONAL NONLINEAR OPTIMAL PERTURBATION WITH PARAMETERIZATION “ON-OFF” SWITCHES INCLUDED BY A MODEL 被引量:2
8
作者 方昌銮 郑琴 《Journal of Tropical Meteorology》 SCIE 2009年第1期13-19,共7页
In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint me... In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint method from providing correct gradient during the optimization process. To address this problem, the capture of CNOP, when the "on-off" switches are included in models, is treated as non-smooth optimization in this study, and the genetic algorithm (GA) is introduced. After detailed algorithm procedures are formulated using an idealized model with parameterization "on-off" switches in the forcing term, the impacts of "on-off" switches on the capture of CNOP are analyzed, and three numerical experiments are conducted to check the effectiveness of GA in capturing CNOP and to analyze the impacts of different initial populations on the optimization result. The result shows that GA is competent for the capture of CNOP in the context of the idealized model with parameterization ‘on-off’ switches in this study. Finally, the advantages and disadvantages of GA in capturing CNOP are analyzed in detail. 展开更多
关键词 dynamic meteorology typhoon adaptive observation genetic algorithm conditional nonlinear optimal perturbation switches moist physical parameterization
下载PDF
Design and Analysis of Fault Diagnosis and Fault-tolerant Control for a Class of MIMO Nonlinear State Systems 被引量:2
9
作者 Sunan HUANG Kok Kiong TAN 《Instrumentation》 2019年第4期14-25,共12页
This paper presents a fault diagnosis and fault-tolerant control algorithm,which can be used for a class of multi-input multi-output(MIMO)nonlinear state systems.First,a state estimator is proposed,which is able to de... This paper presents a fault diagnosis and fault-tolerant control algorithm,which can be used for a class of multi-input multi-output(MIMO)nonlinear state systems.First,a state estimator is proposed,which is able to detect fault occurrence,by using a residual signal.Second,when the state is at an abnormal condition,the fault-tolerant control will be triggered to minimize the impact of the fault occurrence.This fault-tolerant control is designed by using a robust controller(original controller),and an on-line approximator to capture a nonlinear function that indicates the fault occurrence.The detailed analysis is given for the proposed fault accommodation control. 展开更多
关键词 Fault Diagnosis Fault Detection nonlinear Observer On-line Approximator Fault-tolerant Control
下载PDF
Adaptive current compensation with nonlinear disturbance observer for single-sided linear induction motor considering dynamic eddy-effect
10
作者 邓江明 陈特放 陈春阳 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第5期1716-1724,共9页
An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideratio... An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideration of the specially dynamic eddy-effect(DEE) of the SLIM, a instantaneously tracing compensation of m-axis current component was analyzed. Second,adaptive current compensation based on Taylor-discretization algorithm was proposed. Third, an effective kind of nonlinear disturbance observer(NDOB) was employed to estimate and compensate the undesired load vibrations, then the robustness of the control system could be guaranteed. Experimental verification of the feasibility of the proposed method for an SLIM control system was performed, and it showed that the proposed adaptive compensation scheme with NDOB could significantly promote speed dynamical response and minimize speed ripple under the conditions of external load coupled vibrations and unavoidable feedback control variables measured errors, i.e., current and speed. 展开更多
关键词 single-sided linear induction motors(SLIMs) current compensation adaptive control dynamical response nonlinear disturbance observer(NDOB)
下载PDF
Observation of Two-Photon Absorption and Nonlinear Refraction in AlN
11
作者 赵萌 徐春华 +3 位作者 胡伟杰 王文军 郭丽伟 陈小龙 《Chinese Physics Letters》 SCIE CAS CSCD 2016年第10期53-56,共4页
Two-photon absorption (TPA) and nonlinear refraction in AlN single crystals are revealed with the single beam Z-scan technique. A large TPA coefficient of 134-3 cm/CW at 355 nm and third-order nonlinear refractive i... Two-photon absorption (TPA) and nonlinear refraction in AlN single crystals are revealed with the single beam Z-scan technique. A large TPA coefficient of 134-3 cm/CW at 355 nm and third-order nonlinear refractive indices of-1.91±0.38×10-13 cm2/W at 355nm, 1.79±0.36 × 10-13 cm2/W at 532nm and 1.61±0.32 ×10-12 cm2/W at 1064nm are derived. It is inferred that the TPA-generated free carriers are responsible for the large negative nonlinear refractive index at 355 nm, while the oxygen impurity induced bandgap narrowing may account for the large third-order nonlinear refractive indices at 532nm and 1064nm. The large nonlinear optical responses of AIN promise wide applications in the deep ultraviolet nonlinear optical devices. 展开更多
关键词 AIN IS of Observation of Two-Photon Absorption and nonlinear Refraction in AlN NM in
下载PDF
Nonlinear Control of Induction Motor: A Combination of Nonlinear Observer Design and Input-Output Linearization Technique
12
作者 Farid Berrezzek Wafa Bourbia Bachir Bensaker 《Journal of Energy and Power Engineering》 2013年第5期1001-1008,共8页
This paper deals with a nonlinear control strategy of induction motor that combines an input-output linearization control technique and a nonlinear observer design. It is well known that induction motors are the most ... This paper deals with a nonlinear control strategy of induction motor that combines an input-output linearization control technique and a nonlinear observer design. It is well known that induction motors are the most widely used motors in electrical appliances, industrial control and automation. However, it is also known that induction motor control is a complex task that is due to its nonlinear characteristics. Two main features of the proposed approach are worth to be mentioned. Firstly, a nonlinear control is carried out using a nonlinear feedback linearization technique involving non available state variable measurements of the induction motor system. Secondly, a nonlinear observer is designed to estimate these pertinent but unmeasurable state variables of the machine. The circle-criterion approach is performed to compute the observer gain matrices as a solution of LMI (linear matrix inequalities) that ensure the stability conditions, in the sense of Lyapunov, of the estimated state error dynamics of the designed observer. Simulation results are presented to validate the effectiveness of the proposed approach. 展开更多
关键词 Induction motor nonlinear control input-output linearization nonlinear observer circle criterion Lyapunov stability.
下载PDF
A Proof of Lyapunov Stability of a Nonlinear Observer for the Mechanical States of Turbogenerator Systems
13
作者 A. Alwadie A. M. Abdel-Hamid 《Journal of Energy and Power Engineering》 2013年第6期1206-1213,共8页
The dynamics of a turbogenerator are characterized by a nonlinearly interacting electrical and mechanical subsystems. Accurate and robust state reconstruction by an observer should be based on its nonlinear dynamic be... The dynamics of a turbogenerator are characterized by a nonlinearly interacting electrical and mechanical subsystems. Accurate and robust state reconstruction by an observer should be based on its nonlinear dynamic behavior. Linear and reduced order observers are undesired since intolerable error of state reconstruction may be expected especially if the operating conditions and/or the external disturbances are, as usual in modern power systems, extremely changed. The 2nd authors of this paper had published a methodical design of a full order nonlinear observer for turbogenerator systems and conducted its experimental validation on a 120 MVA and 1,000 MVA synchronous generators at Gud-Power Station in south Munich (Germany) and the Nuclear Power Station of Goesgen (Switzerland). In this paper, the Lyapunov's stability is applied to the mechanical slow motion of nonlinear observer. A second order Lyapunov function is introduced. Based on the energy interpretations of its terms, the necessary and sufficient conditions for the asymptotic stability of this nonlinear observer are derived. 展开更多
关键词 TURBOGENERATORS Lyapunov stability function nonlinear observer synchronous generator nonlinear feedback.
下载PDF
Distributed Cooperative Anti-Disturbance Control for High-Order MIMO Nonlinear Multi-Agent Systems
14
作者 JIN Feiyu CHEN Longsheng +1 位作者 LI Tongshuai SHI Tongxin 《Journal of Shanghai Jiaotong university(Science)》 EI 2024年第4期656-666,共11页
To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties a... To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments. 展开更多
关键词 nonlinear disturbance observer(NDO) higher-order multi-input and multi-output(MIMO)system multi-agent system cooperative control disturbance suppression
原文传递
Enhanced adaptive nonlinear extended state observer for pure feedback systems with matched and mismatched disturbances
15
作者 Mahtab Delpasand Mohammad Farrokhi 《Control Theory and Technology》 EI CSCD 2024年第2期254-268,共15页
In this paper, an enhanced adaptive nonlinear extended state observer (EANESO) for single-input single-output pure feedback systems in the presence of external time-varying disturbances is proposed. In this paper, a n... In this paper, an enhanced adaptive nonlinear extended state observer (EANESO) for single-input single-output pure feedback systems in the presence of external time-varying disturbances is proposed. In this paper, a nonlinear system with matched and mismatched disturbances is considered. The conventional extended state observer (ESO) can only be applied to systems that are in the form of integral chains. Moreover, this method has limitations in the face of mismatched disturbances. In the presence of time-varying disturbances, the traditional ESOs cannot estimate the disturbances accurately. To overcome this limitation, an EANESO is proposed in this paper. The main idea is to design the nonlinear ESO (NESO) to estimate the states of the system and multiple disturbances simultaneously. The observer gains are considered time-varying and adjusted with adaptation laws to improve the estimation accuracy and overcome the peaking phenomenon. Next, the proposed controller is designed based on output feedback to eliminate the effects of multiple disturbances and stabilize the closed-loop system. Subsequently, the stability analysis of the closed-loop system and convergence of the observer error are discussed. Finally, the proposed method is applied to the inverted pendulum system. The simulated results show good performance of the proposed method as compared with a recently published scheme in the related literature. 展开更多
关键词 nonlinear extended state observer Enhanced adaptive extended state observer Adaptation law Multiple-channel disturbances Inverted pendulum system Time-varying gain
原文传递
Constant-gain nonlinear adaptive observers revisited: an application to chemostat systems
16
作者 Jorge A.TORRES Arno SONCK +1 位作者 Sergej CELIKOVSKY Alma R.DOMINGUEZ 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2021年第1期68-78,共11页
This study deals with constant-gain adaptive observers for nonlinear systems,for which relatively few solutions are available for some particular cases.We introduce an asymptotic observer of constant gain for nonlinea... This study deals with constant-gain adaptive observers for nonlinear systems,for which relatively few solutions are available for some particular cases.We introduce an asymptotic observer of constant gain for nonlinear systems that have linear input.This allows the observer design to be formulated within the linear matrix inequality paradigm provided that a strictly positive real condition bet ween the inpu t disturbance and the output is fulfilled.The proposed observer is t hen applied to a large class of nonlinear chemos tat dynamical systems that are widely used in the fermentation process,cell cultures,medicine,etc.In fact,under standard practical assumptions,the necessary change of the chemos tat state coordinates exis ts,allowing use of the const ant-gain observer.Finally,the developed theory is illustrated by estimating pollutant concentration in a Spirulina maxima wastewater treatment facility. 展开更多
关键词 nonlinear observers Adaptive observers Coordinate change Chemos tat Pollu taut observation
原文传递
State Estimation of the Electric Drive Articulated Dump Truck Based on UKF 被引量:4
17
作者 Chun Jin Tong Liu Yanhua Shen 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2015年第6期21-30,共10页
The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck a... The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck and nonlinear characteristics of moving vehicles,nonlinear observer of vehicle status is designed to strength robustness of dynamic control system in this paper. A 4-degree-of-freedom nonlinear dynamic model of articulated electric drive vehicle is built as reference model to estimate the state of the articulated vehicle. And by adopting Unscented Kalman Filter( UKF) algorithm,a series of state parameters such as longitudinal velocities of front and rear frames,yaw rate and side-slip angle are estimated. During the test of 60 t articulated electric drive vehicle,2 inertial navigation modules are installed in the front frame and rear frame respectively and the speed of each electric drive wheel is obtained simultaneously. As the test results suggest,in various working conditions,the algorithm based on UKF is able to accurately estimate the state parameters of articulated vehicle with the estimated error less than 5%. The proposed method is justified to be the theoretical basis and application guidance for articulated vehicle stability control. 展开更多
关键词 articulated dump trucks nonlinear observer soft measurement Unscented Kalman Filter sideslip angle
下载PDF
Robust Position Anti-Interference Control for PMSM Servo System With Uncertain Disturbance 被引量:20
18
作者 Longfei Li Jie Xiao +4 位作者 Yun Zhao Kan Liu Xiaoyan Peng Haozhe Luan Kaiqing Li 《CES Transactions on Electrical Machines and Systems》 CSCD 2020年第2期151-160,共10页
Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference contro... Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference control for the angular position tracking control of a PMSM servo system has been proposed in this paper.During the position tracking,uncertain system disturbances being regarded as a lumped unknown term will be online observed by a nonlinear disturbance observer(NDOB),of which the influence will consequently be counteracted by a robust backstepping compensator(RBC).The asymptotical stability of proposed control scheme is analyzed and designed according to the Lyapunov stability criterion,and its convergence against the system uncertain disturbance is verified on a prototype PMSM servo platform and shows good performance in rotor angular position tracking and anti-interference. 展开更多
关键词 nonlinear disturbance observer(NDOB) permanent magnet synchronous machine(PMSM) position control robust backstepping compensator(RBC) servo system.
下载PDF
Integrated guidance and control design of the suicide UCAV for terminal attack 被引量:2
19
作者 Huan Zhou Hui Zhao +1 位作者 Hanqiao Huang Xin Zhao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2017年第3期546-555,共10页
A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC... A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC system model of the UCAV is built based on the three-channel independent design idea, which reduces the difficulties of designing the controller. Then, IGC control laws are designed using the trajectory linearization control (TLC). A nonlinear disturbance observer (NDO) is introduced to the IGC controller to reject various uncertainties, such as the aerodynamic parameter perturbation and the measurement error interference. The stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the proposed IGC design method is verified in a terminal attack mission of the suicide UCAV. Finally, simulation results demonstrate the superiority and effectiveness in the aspects of guidance accuracy and system robustness. 展开更多
关键词 integrated guidance and control (IGC) unmanned combat aerial vehicle (UCAV) trajectory linearization control (TLC) terminal attack nonlinear disturbance observer (NDO)
下载PDF
Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties 被引量:2
20
作者 Dianwei Qian Chengdong Li +1 位作者 Suk Gyu Lee Chao Ma 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第1期342-351,共10页
This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange amo... This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties. 展开更多
关键词 Formation control multi-agent systems nonlinear disturbance observer sliding mode UNCERTAINTIES
下载PDF
上一页 1 2 3 下一页 到第
使用帮助 返回顶部