An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control...An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.展开更多
A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle ...A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.展开更多
Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible...Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible beam model and the matching reference model, arobust adaptive control scheme is developed by involving the dead-zone inverse terms. The newadaptive control law ensures global stability of the entire system and achieves desired trackingprecision even when the slopes of the dead-zone are not equal. Simulations performed on a typicalflexible beam system illustrate and clarify the validity of this approach.展开更多
In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The ...In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.展开更多
This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodele...This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality (LMI).Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.展开更多
The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adapt...The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adaptive, decentralized, variable structure control is proposed. The approach removes the conditions that the dead-zone slopes and boundaries are equal and symmetric, respectively. In addition, it does not require that the assumptions that all parameters of the nonlinear dead-zone model and the lumped uncertainty are known constants. The adaptive compensation terms of the approximation errors axe adopted to minimize the influence of modeling errors and parameter estimation errors. By theoretical analysis, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by...The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems.展开更多
To solve the dead⁃zone in the output flow curve of the proportional flow valve without displacement sensor,a dead⁃zone compensation approach is proposed in this paper.Instead of detection and feedback of the valve spo...To solve the dead⁃zone in the output flow curve of the proportional flow valve without displacement sensor,a dead⁃zone compensation approach is proposed in this paper.Instead of detection and feedback of the valve spool position,the proposed approach adopted the pressure drop across the valve metering orifice to accomplish the dead⁃zone compensation.The first step was to test and get the_(max)imum output flow,Q_(max),at a preset reference pressure drop,such asΔP_(0).The next step was to construct the target compensation flow curve,which is a line through(0,0)and(ΔP_(0),Q_(max)).Then a compensation law was designed to approach the target curve.However,the research results show that the above strategy caused over⁃compensation once the actual pressure drop deviated fromΔP_(0).Thus a correction coefficient,β,was presented to correct the initial compensation law as the pressure drop deviated fromΔP_(0).For example,the test results indicate that the corrected compensation approach could reduce the dead⁃zone from 53.9%to 3.5%at a pressure drop of 1 MPa;as the pressure drop was increased to 5 MPa,the dead⁃zone was reduced from 51.7%to 3.5%.Therefore,the following conclusions can be drawn:the proposed compensation approach is feasible,which can effectively reduce the dead⁃zone and improve the output flow static performance of the proportional flow valve without spool displacement feedback.展开更多
基金financially supported by the Sichuan Science and Technology Program(Grant No.2023NSFSC1980)。
文摘An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.
基金Supported by National Natural Science Foundation of P.R.China(60074013), the Foundation of the Education Bureau of JiangsuProvince (KK0310067&05KJB520152), and the Foundation of Infor-mation Science Subject Group of Yangzhou University (ISG 030606).
文摘A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.
基金This project is supported by National Natural Science Foundation of China (No. 59885002).
文摘Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible beam model and the matching reference model, arobust adaptive control scheme is developed by involving the dead-zone inverse terms. The newadaptive control law ensures global stability of the entire system and achieves desired trackingprecision even when the slopes of the dead-zone are not equal. Simulations performed on a typicalflexible beam system illustrate and clarify the validity of this approach.
基金Supported by National Basic Research Program of China (973 Program) (2009CB320604), National Natural Science Foundation of China (60974043, 60904010), the Funds for Creative Research Groups of China (60821063), the 111 Project (B08015), the Project of Technology Plan of Fujian Province (2009H0033), and the Project of Technology Plan of Quanzhou (2007G6)
基金supported by National Natural Science Foundationof China (No. 60774017 and No. 60874045)
文摘In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.
基金supported by National Natural Science Foundation of China (No. 60704009)
文摘This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality (LMI).Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.
基金This project was supported by the National Natural Science Foundation of China (60074013)the Foundation of New Era Talent Engineering of Yangzhou University.
文摘The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adaptive, decentralized, variable structure control is proposed. The approach removes the conditions that the dead-zone slopes and boundaries are equal and symmetric, respectively. In addition, it does not require that the assumptions that all parameters of the nonlinear dead-zone model and the lumped uncertainty are known constants. The adaptive compensation terms of the approximation errors axe adopted to minimize the influence of modeling errors and parameter estimation errors. By theoretical analysis, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.
基金supported by the National Natural Science Foundation of China(61863034)
文摘The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems.
基金Sponsored by the National Natural Science Foundation of China(Grant Nos.51775362 and 51805350)the Natural Science Foundation of Shanxi Province(Grant No.201801D221226).
文摘To solve the dead⁃zone in the output flow curve of the proportional flow valve without displacement sensor,a dead⁃zone compensation approach is proposed in this paper.Instead of detection and feedback of the valve spool position,the proposed approach adopted the pressure drop across the valve metering orifice to accomplish the dead⁃zone compensation.The first step was to test and get the_(max)imum output flow,Q_(max),at a preset reference pressure drop,such asΔP_(0).The next step was to construct the target compensation flow curve,which is a line through(0,0)and(ΔP_(0),Q_(max)).Then a compensation law was designed to approach the target curve.However,the research results show that the above strategy caused over⁃compensation once the actual pressure drop deviated fromΔP_(0).Thus a correction coefficient,β,was presented to correct the initial compensation law as the pressure drop deviated fromΔP_(0).For example,the test results indicate that the corrected compensation approach could reduce the dead⁃zone from 53.9%to 3.5%at a pressure drop of 1 MPa;as the pressure drop was increased to 5 MPa,the dead⁃zone was reduced from 51.7%to 3.5%.Therefore,the following conclusions can be drawn:the proposed compensation approach is feasible,which can effectively reduce the dead⁃zone and improve the output flow static performance of the proportional flow valve without spool displacement feedback.