A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of othe...A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of other adaptive methods such as strong dependence to the system. A GA is used to learn to optimally select integral coefficient C. Simulation results verified the effectiveness of the controller. For position control of Direct Current (DC) motor in practice, this method has good performance and strong robustness, and both dynamic and steady performances were improved.展开更多
A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay ...A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.展开更多
A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining...A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.展开更多
A sliding mode variable structure control (SMVSC) based on a coordinating optimization algorithm has been developed. Steady state error and control switching frequency are used to constitute the system performance i...A sliding mode variable structure control (SMVSC) based on a coordinating optimization algorithm has been developed. Steady state error and control switching frequency are used to constitute the system performance indexes in the coordinating optimization, while the tuning rate of boundary layer width (BLW) is employed as the optimization parameter. Based on the mathematical relationship between the BLW and steady-state error, an optimized BLW tuning rate is added to the nonlinear control term of SMVSC. Simulation experiment results applied to the positioning control of an electro-hydraulic servo system show the comprehensive superiority in dynamical and static state performance by using the proposed controller is better than that by using SMVSC without optimized BLW tuning rate. This succeeds in coordinately considering both chattering reduction and high-precision control realization in SMVSC.展开更多
To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditio...To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.展开更多
A novel genetic algorithm (NGA) is proposed, which possesses micro-regulation and renascence operation. The optimized variable searching interval is regulated gradually according to the sub-group of excellent individu...A novel genetic algorithm (NGA) is proposed, which possesses micro-regulation and renascence operation. The optimized variable searching interval is regulated gradually according to the sub-group of excellent individuals. The NGA is used to optimize the parameters of the variable structure control (VSC), which satisfies the new reaching law and sliding mode. It is used in robot control systems. Simulation results are given.展开更多
For a class of aeroengine nonlinear systems,a novel nonlinear sliding mode controller(SMC)design method based on artificial bee colony(ABC)algorithm is proposed.In view of the strong nonlinearity and uncertainty of ae...For a class of aeroengine nonlinear systems,a novel nonlinear sliding mode controller(SMC)design method based on artificial bee colony(ABC)algorithm is proposed.In view of the strong nonlinearity and uncertainty of aeroengines,sliding mode control strategy is adopted to design controller for the aeroengine.On basis of exact linearization approach,the nonlinear sliding mode controller is obtained conveniently.By using ABC algorithm,the parameters in the designed controller can be tuned to achieve optimal performance,resulting in a closedloop system with satisfactory dynamic performance and high steady accuracy.Simulation on an aeroengine verifies the effectiveness of the presented method.展开更多
Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By app...Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the stability of origin can be guaranteed, and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation laws, the problem that the system control input is restricted is also considered, which is very important in practical systems. Finally a simulation example shows the effectiveness of the two approximation laws proposed.展开更多
Many physical processes have nonlinear behavior which can be well represented by a polynomial NARX or NARMAX model. The identification of such models has been widely explored in literature. The majority of these appro...Many physical processes have nonlinear behavior which can be well represented by a polynomial NARX or NARMAX model. The identification of such models has been widely explored in literature. The majority of these approaches are for the open-loop identification. However, for reasons such as safety and production restrictions, open-loop identification cannot always be done. In such cases, closed-loop identification is necessary. This paper presents a two-step approach to closed-loop identification of the polynomial NARX/NARMAX systems with variable structure control (VSC). First, a genetic algorithm (GA) is used to maximize the similarity of VSC signal to white noise by tuning the switching function parameters. Second, the system is simulated again and its parameters are estimated by an algorithm of the least square (LS) family. Finally, simulation examples are given to show the validity of the proposed approach.展开更多
In this study an indirect adaptive sliding mode control (SMC) based on a fuzzy logic scheme is proposed to strengthen the tracking control performance of a general class of multi-input multi-output (MIMO) nonlinear un...In this study an indirect adaptive sliding mode control (SMC) based on a fuzzy logic scheme is proposed to strengthen the tracking control performance of a general class of multi-input multi-output (MIMO) nonlinear uncertain systems. Combining reaching law approach and fuzzy universal approximation theorem, the proposed design procedure combines the advantages of fuzzy logic control, adaptive control and sliding mode control. The stability of the control systems is proved in the sense of the Lyapunov second stability theorem. Two simulation studies are presented to demonstrate the effectiveness of our new hybrid control algorithm.展开更多
The variable structure control (VSC) theory is applied to the electro-hydraulic servo system here. The VSC control law is achieved using Lyapunov method and pole placement. To eliminate the chattering phenomena, a s...The variable structure control (VSC) theory is applied to the electro-hydraulic servo system here. The VSC control law is achieved using Lyapunov method and pole placement. To eliminate the chattering phenomena, a saturation function is adopted. The proposed VSC approach is fairly robust to load disturbance and system parameter variation. Since the distortion. including phase lag and amplitude attenuation occurs in the system sinusoid response, the amplitude and phase control (APC) algorithm, based on Adaline neural network and using LMS algorithm, is developed for distortion cancellation. The APC controller is simple and can on-line adjust, thus it gives accurate tracking.展开更多
This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person t...This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person theorem. The splendid selection of switching manifold for each subsystem makes the design relatively straightforward and can be easily realized. An illustrate example is given.展开更多
In this paper,we propose a novel fractionalorder fast terminal sliding mode control method,based on an integer-order scheme,to stabilize the chaotic motion of two typical microcomponents.We apply the fractional Lyapun...In this paper,we propose a novel fractionalorder fast terminal sliding mode control method,based on an integer-order scheme,to stabilize the chaotic motion of two typical microcomponents.We apply the fractional Lyapunov stability theorem to analytically guarantee the asymptotic stability of a system characterized by uncertainties and external disturbances.To reduce chattering,we design a fuzzy logic algorithm to replace the traditional signum function in the switching law.Lastly,we perform numerical simulations with both the fractional-order and integer-order control laws.Results show that the proposed control law is effective in suppressing chaos.展开更多
This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. ...This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances.展开更多
In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were con...In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were considered as state variables of the autopilot,and a parametric sliding mode controller was designed via feedback linearization. A novel parametric adaptation law was put forward to estimate the nonlinear timevarying parameter perturbations in real time based on Lyapunov stability theory. A sliding mode boundary layer theory was adopted to smooth the discontinuity of control variables and eliminate the control chattering. The simulation was presented for the roll angle and overload commands tracking in different configuration schemes. The results indicated that the controlled system has robust dynamic tracking performance in condition of the large-scale aerodynamic parametric variety resulted from variable-swept wings.展开更多
A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To...A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.展开更多
This paper describes the important application of variable structure control (VSC) theory on induction motor (IM) decoupling control system. A design scheme using singular system variable structure control method for ...This paper describes the important application of variable structure control (VSC) theory on induction motor (IM) decoupling control system. A design scheme using singular system variable structure control method for a decoupling IM system is presented. The scheme is shown to be robust to parametric variations and external disturbances. Simulation results show the stability and effectiveness of the proposed scheme展开更多
An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding ...An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov's stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response,and robustness against uncertainties.展开更多
基金This paper is supported by Young Teacher Foundation of Xi'an University of Technology.
文摘A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of other adaptive methods such as strong dependence to the system. A GA is used to learn to optimally select integral coefficient C. Simulation results verified the effectiveness of the controller. For position control of Direct Current (DC) motor in practice, this method has good performance and strong robustness, and both dynamic and steady performances were improved.
基金supported by China Postdoctoral Science Founda-tion (No. 20080441093)Key Laboratory Foundation of Liaoning Province (No. 2008S088).
文摘A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.
基金This work is supported by the National Natural Science Foundation of China (No.60421002) Priority supported financially by the New Century 151 Talent Project of Zhejiang Province.
文摘A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.
基金This work was supported by the Provincial Natural Science Foundation of Hunan(No.04JJ6033) the Research Foundation of Hunan Education Bureau (No.03C066).
文摘A sliding mode variable structure control (SMVSC) based on a coordinating optimization algorithm has been developed. Steady state error and control switching frequency are used to constitute the system performance indexes in the coordinating optimization, while the tuning rate of boundary layer width (BLW) is employed as the optimization parameter. Based on the mathematical relationship between the BLW and steady-state error, an optimized BLW tuning rate is added to the nonlinear control term of SMVSC. Simulation experiment results applied to the positioning control of an electro-hydraulic servo system show the comprehensive superiority in dynamical and static state performance by using the proposed controller is better than that by using SMVSC without optimized BLW tuning rate. This succeeds in coordinately considering both chattering reduction and high-precision control realization in SMVSC.
基金This project is supported by Aeronautics Foundation of China (No. 00E51022)
文摘To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.
文摘A novel genetic algorithm (NGA) is proposed, which possesses micro-regulation and renascence operation. The optimized variable searching interval is regulated gradually according to the sub-group of excellent individuals. The NGA is used to optimize the parameters of the variable structure control (VSC), which satisfies the new reaching law and sliding mode. It is used in robot control systems. Simulation results are given.
基金supported by the Fundamental Research Funds for the Central Universities(NS2016027)
文摘For a class of aeroengine nonlinear systems,a novel nonlinear sliding mode controller(SMC)design method based on artificial bee colony(ABC)algorithm is proposed.In view of the strong nonlinearity and uncertainty of aeroengines,sliding mode control strategy is adopted to design controller for the aeroengine.On basis of exact linearization approach,the nonlinear sliding mode controller is obtained conveniently.By using ABC algorithm,the parameters in the designed controller can be tuned to achieve optimal performance,resulting in a closedloop system with satisfactory dynamic performance and high steady accuracy.Simulation on an aeroengine verifies the effectiveness of the presented method.
基金This work was supported by the National Natural Science Foundation of China (No.60274099) and the Foundation of Key Laboratory of Process Industry Automation, Ministry of Education
文摘Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the stability of origin can be guaranteed, and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation laws, the problem that the system control input is restricted is also considered, which is very important in practical systems. Finally a simulation example shows the effectiveness of the two approximation laws proposed.
文摘Many physical processes have nonlinear behavior which can be well represented by a polynomial NARX or NARMAX model. The identification of such models has been widely explored in literature. The majority of these approaches are for the open-loop identification. However, for reasons such as safety and production restrictions, open-loop identification cannot always be done. In such cases, closed-loop identification is necessary. This paper presents a two-step approach to closed-loop identification of the polynomial NARX/NARMAX systems with variable structure control (VSC). First, a genetic algorithm (GA) is used to maximize the similarity of VSC signal to white noise by tuning the switching function parameters. Second, the system is simulated again and its parameters are estimated by an algorithm of the least square (LS) family. Finally, simulation examples are given to show the validity of the proposed approach.
文摘In this study an indirect adaptive sliding mode control (SMC) based on a fuzzy logic scheme is proposed to strengthen the tracking control performance of a general class of multi-input multi-output (MIMO) nonlinear uncertain systems. Combining reaching law approach and fuzzy universal approximation theorem, the proposed design procedure combines the advantages of fuzzy logic control, adaptive control and sliding mode control. The stability of the control systems is proved in the sense of the Lyapunov second stability theorem. Two simulation studies are presented to demonstrate the effectiveness of our new hybrid control algorithm.
文摘The variable structure control (VSC) theory is applied to the electro-hydraulic servo system here. The VSC control law is achieved using Lyapunov method and pole placement. To eliminate the chattering phenomena, a saturation function is adopted. The proposed VSC approach is fairly robust to load disturbance and system parameter variation. Since the distortion. including phase lag and amplitude attenuation occurs in the system sinusoid response, the amplitude and phase control (APC) algorithm, based on Adaline neural network and using LMS algorithm, is developed for distortion cancellation. The APC controller is simple and can on-line adjust, thus it gives accurate tracking.
文摘This paper, at the first time, considers the problem of decentralized variable structure control of complex giant singular uncertainty systems by using the property of diagonally dominant matrix and Frobenius-Person theorem. The splendid selection of switching manifold for each subsystem makes the design relatively straightforward and can be easily realized. An illustrate example is given.
基金supported by the National Natural Science Foundation of China(No.11372210 and No.51405343)the Research Fund for the Doctoral Program of Higher Education of China(No.20120032110010)Tianjin Research Program of Application Foundation and Advanced Technology(No.12JCZDJC28000 and No.15JCQNJC05000)
文摘In this paper,we propose a novel fractionalorder fast terminal sliding mode control method,based on an integer-order scheme,to stabilize the chaotic motion of two typical microcomponents.We apply the fractional Lyapunov stability theorem to analytically guarantee the asymptotic stability of a system characterized by uncertainties and external disturbances.To reduce chattering,we design a fuzzy logic algorithm to replace the traditional signum function in the switching law.Lastly,we perform numerical simulations with both the fractional-order and integer-order control laws.Results show that the proposed control law is effective in suppressing chaos.
基金supported by National Natural Science Foundation of China(11372309,61304017)
文摘This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances.
基金Sponsored by the National Natural Science Foundation of China(Grant No.11176012)Aviation Science Foundation of China(Grant No.20110159001)
文摘In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were considered as state variables of the autopilot,and a parametric sliding mode controller was designed via feedback linearization. A novel parametric adaptation law was put forward to estimate the nonlinear timevarying parameter perturbations in real time based on Lyapunov stability theory. A sliding mode boundary layer theory was adopted to smooth the discontinuity of control variables and eliminate the control chattering. The simulation was presented for the roll angle and overload commands tracking in different configuration schemes. The results indicated that the controlled system has robust dynamic tracking performance in condition of the large-scale aerodynamic parametric variety resulted from variable-swept wings.
文摘A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.
文摘This paper describes the important application of variable structure control (VSC) theory on induction motor (IM) decoupling control system. A design scheme using singular system variable structure control method for a decoupling IM system is presented. The scheme is shown to be robust to parametric variations and external disturbances. Simulation results show the stability and effectiveness of the proposed scheme
文摘An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov's stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response,and robustness against uncertainties.