For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we prese...For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we present a robust adaptive backstepping control scheme based on the radial basis function neural network(RBFNN). The RBFNN is introduced to approximate the complex nonlinear function involving uncertainties and external unknown disturbances, and meanwhile a new robust term is constructed to further estimate the system residual error,which removes the requirement of knowing the upper bound of the disturbances and uncertainty terms. The stability analysis of the power system is presented based on the Lyapunov function,which can guarantee the uniform ultimate boundedness(UUB) of all parameters and states of the whole closed-loop system. A comparison is made between the RBFNN-based robust adaptive control and the general backstepping control in the simulation part to verify the effectiveness of the proposed control scheme.展开更多
The nonplanar hex-rotor unmanned aerial vehicle(UAV)has much higher driving property,greater payload capacity and damage tolerance than quad-rotor UAV.It is difficult to design a highperformance controller of easy eng...The nonplanar hex-rotor unmanned aerial vehicle(UAV)has much higher driving property,greater payload capacity and damage tolerance than quad-rotor UAV.It is difficult to design a highperformance controller of easy engineering implementation for strongly coupled nonlinear hex-rotorUAV system.In response to this practical problem,an adaptive trajectory tracking control based oncharacteristic model for nonplanar hex-rotor is studied.Firstly,the dynamic model for the hex-rotorUAV is devised.Secondly,according to dynamic characteristics,environmental characteristics andcontrol performance requirements,the characteristic model of the hex-rotor UAV is constructed.Then,based on the characteristic model,a golden section adaptive controller is designed to realizetrajectory tracking.Furthermore,the stability analysis of the closed loop hex-rotor system is given.Finally,the validity of the proposed trajectory tracking control method adopted in the nonplanar hex-rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments.展开更多
基金supported in part by the National Natural Science Foundation of China(61433004,61703289)
文摘For a single machine infinite power system with thyristor controlled series compensation(TCSC) device, which is affected by system model uncertainties, nonlinear time-delays and external unknown disturbances, we present a robust adaptive backstepping control scheme based on the radial basis function neural network(RBFNN). The RBFNN is introduced to approximate the complex nonlinear function involving uncertainties and external unknown disturbances, and meanwhile a new robust term is constructed to further estimate the system residual error,which removes the requirement of knowing the upper bound of the disturbances and uncertainty terms. The stability analysis of the power system is presented based on the Lyapunov function,which can guarantee the uniform ultimate boundedness(UUB) of all parameters and states of the whole closed-loop system. A comparison is made between the RBFNN-based robust adaptive control and the general backstepping control in the simulation part to verify the effectiveness of the proposed control scheme.
基金Supported by the Science and Technology Development Plan Project of Jilin Province(No.20200201294JC)。
文摘The nonplanar hex-rotor unmanned aerial vehicle(UAV)has much higher driving property,greater payload capacity and damage tolerance than quad-rotor UAV.It is difficult to design a highperformance controller of easy engineering implementation for strongly coupled nonlinear hex-rotorUAV system.In response to this practical problem,an adaptive trajectory tracking control based oncharacteristic model for nonplanar hex-rotor is studied.Firstly,the dynamic model for the hex-rotorUAV is devised.Secondly,according to dynamic characteristics,environmental characteristics andcontrol performance requirements,the characteristic model of the hex-rotor UAV is constructed.Then,based on the characteristic model,a golden section adaptive controller is designed to realizetrajectory tracking.Furthermore,the stability analysis of the closed loop hex-rotor system is given.Finally,the validity of the proposed trajectory tracking control method adopted in the nonplanar hex-rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments.
