Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.

Quantum Realities and Observer-Dependent Universes: An Advanced Observer Model

This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transmitting multi-media frames to create observer-dependent realities. Key aspects include deriving frame rates, defining quantum reality, and establishing hierarchical observer structures. The model’s impact on quantum information theory and philosophical interpretations of reality are examined, with detailed discussions on information loss and recursive frame transmission in the appendices.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

基于Observer的典型飞行学员起飞阶段操作行为差异研究

为了研究飞行学员起飞训练阶段的行为特性,选取某航校培训的150名飞行学员,在实训固态模拟机(DA-40)上执行大侧风起飞航线任务,通过多角度录像的方法记录下飞行的全过程,并选取A、B两组飞行学员(表现最好和最差)的操作视频,对其操纵动作进行编码,应用The Observer XT(12.0)行为分析软件得出两组飞行学员各行为的可视图,并结合数理统计的方法对其俯仰操纵、航向操纵、滚转操纵等行为的持续时间、发生频次、所占飞行总时长的百分比进行对比分析。结果表明:在大侧风起飞任务下,两组飞行学员的俯仰操纵和滚转操纵行为在持续时间、发生频次、所占飞行总时长的百分比差异较为明显,其他操作行为无显著性差异。

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

An extended state observer with adjustable bandwidth for measurement noise

In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.

Interobserver and intraobserver reliability of skull base angles measured on magnetic resonance images

BACKGROUND Determination of platybasia and basilar kyphosis are significant parts of routine cranial magnetic resonance(MR)interpretations.These situations may explain a patient’s symptoms or may be associated with other anomalies.AIM To indicate the interobserver and intraobserver reliability of the skull base angles(SBA)(Koenigsberg standard)and modified SBA(mSBA)measurement techniques.METHODS In total,391 patients who had undergone cranial MR imaging were re-assessed regarding the SBA measurements.The SBA and mSBA techniques were used on MR images.Two reviewers independently measured the same angles twice within a 15-day interval,using different monitors.Intraclass correlation coefficient(ICC)was calculated to reveal the intraobserver and interobserver agreements.RESULTS There was an excellent agreement between reviewers regarding both angle measurements(ICC was 0.998 for SBA and mSBA).Excellent agreement levels were also observed for intraobserver measurements.ICC was 0.998 for SBA and 0.999 for mSBA for reviewer 1.ICC was 0.997 for SBA and 0.999 for mSBA according to the measurement results of reviewer 2.Higher SBA and mSBA values were observed for females compared to males.There was no correlation between SBA and age for SBA.However,a negative and low-level correlation was observed between mSBA values and age for both reviewers.CONCLUSION SBA and mSBA measurements indicated excellent agreement regarding interobserver and intraobserver differences.The study results showed that SBA angles were reliable measurement techniques to be used on MR images.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity

In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.

Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state responses.This paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer

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.

Sliding Mode Control Approach with Integrated Disturbance Observer for PMSM Speed System

The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of the system,a fast non-singular end sliding mode(FNTSM)surface function based on traditional NTSM control is developed.The theoretical analysis proves that the FNTSM surface function has a faster dynamic response and more finite-time convergence.In addition,for the self-vibration problem caused by high sliding mode switching gain,an FNTSM control method with anti-disturbance capability was designed based on the linear disturbance observer(DO),i.e.the FNTSMDO method was employed to devise the PMSM speed regulator.The comparative simulation and experiment results with traditional PI control and NTSM control methods indicate that the FNTSMDO method could improve the dynamic performance and anti-interference of the system.

Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.

Distributed fault diagnosis observer for multi-agent system against actuator and sensor faults

Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor faults.Firstly,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system form.Then,a sliding mode-based distributed unknown input observer is proposed to estimate the extended state.Furthermore,adaptive laws are introduced to adjust the observer parameters.Finally,the effectiveness of the proposed method is demonstrated with numerical simulations.

Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System

Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.

Disturbance observer-based fuzzy fault-tolerant control for high-speed trains with multiple disturbances

The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated for by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. The Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results.

Weak Fault Detection of Rotor Winding Inter-Turn Short Circuit in Excitation System Based on Residual Interval Observer

Aiming at the fact that the rotor winding inter-turn weak faults can hardly be detected due to the strong electromagnetic coupling effect in the excitation system,an interval observer based on current residual is designed.Firstly,the mechanism of the inter-turn short circuit of the rotor winding in the excitation system is modeled under the premise of stable working conditions,and electromagnetic decoupling and system simplification are carried out through Park Transform.An interval observer is designed based on the current residual in the two-phase coordinate system,and the sensitive and stable conditions of the observer is preset.The fault diagnosis process based on the interval observer is formulated,and the observer gain matrix is convexly optimized by linear matrix inequality.The numerical simulation and experimental results show that the inter-turn short circuit weak fault is hardly detected directly through the current signal,but the fault is quickly and accurately diagnosed through the residual internal observer.Compared with the traditional fault diagnosis method based on excitation current,the diagnosis speed and accuracy are greatly improved,and the probability of misdiagnosis also decreases.This method provides a theoretical basis for weak fault identification of excitation systems,and is of great significance for the operation and maintenance of excitation systems.