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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年第10卷第1期页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking welding robotic manipulator adaptive control sliding mode control

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

《机械工程前沿（英文）》 2006年第1卷第3期页码 260-264 doi: 10.1007/s11465-006-0036-9

摘要： The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed. In order to enhance the tracking and anti-disturbance performance of the system, its third-order model is established, and disturbance-observer based input revising feedforward error compensation robust control algorithm, combined with integral-separated proportional integral derivative (PID) control algorithm is proposed. This includes feedback control algorithm and feedforward control algorithm. The feedback controller improves system tracking performance and suppresses load and mechanical disturbance while the feedforward controller compensates phase hysteresis introduced by feedback control. Theoretical analyses, simulations and experiments show that this control method increases the tracking precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

关键词： feedforward tracking ±5 anti-disturbance performance algorithm

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

《能源前沿（英文）》 2020年第14卷第4期页码 836-849 doi: 10.1007/s11708-017-0444-z

摘要： This paper proposes a design of control and estimation strategy for induction motor based on the variable structure approach. It describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speed observer. This algorithm uses direct torque control basics and the sliding mode approach. A robust electromagnetic torque and flux controllers are designed to overcome the conventional SVM-DTC drawbacks and to ensure fast response and full reference tracking with desired dynamic behavior and low ripple level. The sliding mode controller is used to generate reference voltages in stationary frame and give them to the controlled motor after modulation by a space vector modulation (SVM) inverter. The second aim of this paper is to design a sliding mode speed/flux observer which can improve the control performances by using a sensorless algorithm to get an accurate estimation, and consequently, increase the reliability of the system and decrease the cost of using sensors. The effectiveness of the whole composed control algorithm is investigated in different robustness tests with simulation using Matlab/Simulink and verified by real time experimental implementation based on dS pace 1104 board.

关键词： induction motor direct torque control (DTC) space vector modulation (SVM) sliding mode control (SMC) sliding mode observer (SMO) dS1104

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双轮铣槽机铣削系统自适应模糊积分滑模转速控制

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

《信息与电子工程前沿（英文）》 2016年第17卷第1期页码 55-66 doi: 10.1631/FITEE.15a0160

摘要：目的：随着地下连续墙施工工法和双轮铣槽机技术不断发展，实现对双轮铣槽机铣削系统铣轮工作转速的快速精确控制具有重要意义。在负载特性未知、扰动复杂的情况下，本文基于自适应模糊积分滑模（AFISMC）控制算法，实现对铣削系统铣轮转速的良好控制。创新点：在双轮铣槽机铣轮铣削过程中，铣轮转速控制受到岩石和土壤未知负载特性的影响，同时地质条件不断变化。由于岩石和土壤复杂的负载特性，铣轮的切削扭矩与地质条件、铣轮进给速度等均存在耦合关系，而且其动态特性复杂未知，无法建立准确的数学模型。本文针对以上难点，设计新型自适应模糊积分滑模转速控制器。方法：针对双轮铣槽机铣削系统的特性，提出一种基于自适应模糊积分滑模控制（AFISMC）的铣轮转速控制方案。该控制方案将自适应控制的参数自整定特性、积分滑模控制的鲁棒性以及模糊系统独立于数学模型的特性结合起来。通过自适应模糊系统对被控对象未知模型有效逼近，使用反步法对控制器进行设计，采用Lyapunov理论证明整个闭环系统（包括自适应模糊推理系统、积分滑模控制器和被控对象）的稳定性。结论：在双轮铣槽机液压模拟实验台对不同工况下的铣轮转速控制进行实验，分别采用PI、ISMC和AFISMC三种控制方法进行对比。实验结果表明AFISMC控制算法在跟踪和抗干扰方面均表现出良好的控制性能。

关键词：铣削系统；电液系统；铣削转速控制；自适应模糊积分滑模控制

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

《机械工程前沿（英文）》 2021年第16卷第2期页码 353-362 doi: 10.1007/s11465-020-0620-4

摘要： This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

关键词： sliding-mode control robot control discrete-time uncertain systems fuzzy logic

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DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

《能源前沿（英文）》 2014年第8卷第3期页码 345-354 doi: 10.1007/s11708-014-0330-x

摘要： This paper proposes an indirect power control of doubly fed induction generator (DFIG) with the rotor connected to the electric grid through a back-to-back pulse width modulation (PWM) converter for variable speed wind power generation. Appropriate state space model of the DFIG is deduced. An original control strategy based on a variable structure control theory, also called sliding mode control, is applied to achieve the control of the active and reactive power exchanged between the stator of the DFIG and the grid. A proportional-integral-(PI) controller is used to keep the DC-link voltage constant for a back-to-back PWM converter. Simulations are conducted for validation of the digital controller operation using Matlab/Simulink software.

关键词： doubly fed induction generator (DFIG) wind turbine back-to-back pulse width modulation (PWM) DC-link voltage sliding mode control

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年第2卷第1期页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional nonlinear trajectory tracking diffeomorphism

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基于离散系统滑模控制的有限时间领导—跟随一致性 Research Article

宋睿卓1,2,邢适1,2,许镇3

《信息与电子工程前沿（英文）》 2022年第23卷第7期页码 1057-1068 doi: 10.1631/FITEE.2100565

摘要：研究了离散时间二阶多智能体系统在外部干扰约束下的有限时间领导—跟随一致性问题。首先利用自适应滑模控制理论，设计了一种新的有限时间一致性方案。自适应控制律是在传统滑模趋近律基础上改进设计的，其优点是减少抖振并保持对干扰的不变性。此外，通过给出一个离散李雅普诺夫函数，证明了离散时间二阶多智能体系统的有限时间稳定性。最后，数值模拟结果验证了理论分析的有效性。

关键词：有限时间；领导—跟随一致性；自适应滑模控制；多智能体系统

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基于滑模控制的可拓控制器设计

陈珍源,翁庆昌

《中国工程科学》 2001年第3卷第9期页码 48-51

摘要：

根据滑模控制概念，提出一种新的可拓控制器。在控制策略设计上分为两个部分，第一个部分是根据系统已知部分设计滑模控制的等效控制，另一部分为鲁棒控制以解决系统的不确定性因素及外部干扰问题。首先，构造一基本可拓控制器，用所定可拓集的关联函数作为系统状态信息的评价指针，并在其中植入一组待调增益参数，经参数修正来综合滑模可拓控制的鲁棒控制（滑模的撞击控制），以保证系统的稳定性。最后以一个非线性控制系统的仿真为例来说明所设计的可拓控制器的控制性能。

关键词：可拓集合可拓控制滑模控制系统稳定性

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一类非仿射离散非线性系统的直接自适应模糊滑模控制 Article

Xiao-yu ZHANG

《信息与电子工程前沿（英文）》 2016年第17卷第12期页码 1331-1343 doi: 10.1631/FITEE.1500318

摘要：针对非仿射离散非线性系统的带干扰轨迹跟踪问题，提出一种直接自适应模糊滑模控制设计。为了获得自适应特性及消除滑模控制抖振，通过使用一个动态模糊逻辑系统（Dynamic fuzzy logical system, DFLS）实现等价控制。DFLS的参数实行在线自调节。用Lyapunov分析方法验证了滑模控制的稳定性，结果表明，整个系统渐近稳定且具备自适应、消除抖振的特点。通过数值仿真和一个2自由度机械臂的应用设计仿真证明了所提出设计的良好性能。

关键词：非线性系统；离散系统；动态模糊逻辑系统；直接自适应；滑模控制

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年第13卷第2期页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitive control noise alleviation constraint control

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非线性系统的高增益滑模输出跟踪

王新华,陈增强,袁著祉

《中国工程科学》 2004年第6卷第2期页码 38-43

摘要：

基于非线性系统线性化后得到外部动态与内模动态，设计一种线性化观测器，使得当摄动参数在有限范围内任意取值时，观测器误差渐近为零。并且利用在有限时间到达平衡点的连续滑动模态，设计一种连续形式的高增益滑模控制器，使得实际输出与参考输出的差渐近收敛到零。稳定性分析和仿真试验表明，该控制系统具有较强的鲁棒性和快速收敛性。

关键词：非线性系统外部动态内模动态滑模控制鲁棒性

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地基土上水工建筑物的抗滑动稳定研究

周君亮

《中国工程科学》 2010年第12卷第3期页码 4-14

摘要：

研究地基土上水工建筑物滑动设计和计算中存在的问题。利用基坑内压板抗滑动试验成果，确定地基土包括回弹影响后的抗滑动承载能力。采用地基土承受偏心荷载的最大压应力σmax控制地基土与压板的位移和抗滑动形式，可以发生不同的3种最大位移面，形成6种抗滑动形式。根据地基土承受的最大压应力，提出设计抗滑动的计算方法：定量确定地基土与压板抗滑动的摩擦系数计算值，地基土的抗滑动安全系数由指标安全系数控制，修正在地基土上建筑物整体滑动的计算公式，计算预测可能发生的多种最大位移面和抗滑动形式及绘制地基土滑动区轮廓，限定地基土发生平面抗滑动形式时承受的最大压应力值。按拟定方法，回顾分析3座已建水工建筑物，分析计算成果符合实物工况。

关键词：压板抗滑动试验最大位移面与抗滑动形式原型、模型抗滑动相似指数抗滑动摩擦系数设计和计算方法

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基于改进级联观测器的永磁同步电机智能分数阶积分滑模控制 Research Articles

肖玲斐1,2,马磊明3,黄欣浩1

《信息与电子工程前沿（英文）》 2022年第23卷第2期页码 328-338 doi: 10.1631/FITEE.2000317

摘要：提出一种基于改进级联观测器的智能分数阶积分滑模控制（FOISMC）策略。首先，针对永磁同步电机设计了分数阶积分滑模控制器，该控制器有良好跟踪性能，具有强鲁棒性，且能有效削弱抖振。所提策略结合了积分能消除稳态跟踪误差和分数阶微积分灵活的优点。其次，提出一种改进的级联观测器，能获得较小的转子信息观测误差。所设计级联观测器结合了自适应滑模观测器和扩展高增益观测器。此外，利用改进的变速灰狼优化算法优化控制器参数。最后，在综合考虑模型不确定性和外部干扰的情况下，通过仿真和实验验证了所提策略的有效性。

关键词：永磁同步电机；分数阶积分滑模；优化算法；无传感器控制；观测器

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标题作者时间类型操作

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

期刊论文

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

期刊论文

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

期刊论文

Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode