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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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Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

《机械工程前沿（英文）》 2009年 第4卷 第2期   页码 203-214 doi: 10.1007/s11465-009-0022-0

摘要： The robustness of mechanical systems is influenced by various factors. Their effects must be understood for designing robust systems. This paper proposes a model for describing the relationships among functional requirements, structural characteristics, design parameters and uncontrollable variables of nonlinear systems. With this model, the sensitivity of systems was analyzed to formulate a system sensitivity index and robust sensitivity matrix to determine the importance of the factors in relation to the robustness of systems. Based on the robust design principle, an optimization model was developed. Combining this optimization model and the Taguchi method for robust design, an analysis was carried out to reveal the characteristics of the systems. For a nonlinear mechanical system, relationships among structural characteristics of the system, design parameters, and uncontrollable variables can be formulated as a mathematical function. The characteristics of the system determine how design parameters affect the functional requirements of the system. Consequently, they affect the distribution of system performance functions. Nonlinearity of the system can facilitate the selection of design parameters to achieve the required functional requirements.

关键词： robust     design     nonlinear    

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Robust nonlinear control via feedback linearization and Lyapunov theory for permanent magnet synchronous

Ridha CHEIKH, Arezki MENACER, L. CHRIFI-ALAOUI, Said DRID

《能源前沿（英文）》 2020年 第14卷 第1期   页码 180-191 doi: 10.1007/s11708-018-0537-3

摘要： In this paper, the method for the nonlinear control design of a permanent magnet synchronous generator based-wind energy conversion system (WECS) is proposed in order to obtain robustness against disturbances and harvest a maximum power from a typical stochastic wind environment. The technique overcomes both the problem of nonlinearity and the uncertainty of the parameter compared to such classical control designs based on traditional control techniques. The method is based on the differential geometric feedback linearization technique (DGT) and the Lyapunov theory. The results obtained show the effectiveness and performance of the proposed approach.

关键词： permanent magnet synchronous generator     wind energy conversion system     stochastic     differential geometric     feedback linearization     maximum power point tracking     Lyapunov     robust control    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年 第10卷 第2期   页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators     robotic arm    

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Robust control of

Xueyan TANG, I-Ming CHEN

《机械工程前沿（英文）》 2009年 第4卷 第1期   页码 25-34 doi: 10.1007/s11465-009-0004-2

摘要： This article describes the development of an flexure-based micromanipulator, with the features of decoupled kinematic structure, large motion range, high positioning precision, and fast response. The large motion range of flexure mechanisms is quantified by a given definition. Based on the given definition, large motion is achieved in the mechanical design of the -flexure parallel mechanism (FPM). To ensure high positioning precision and fast dynamic response, a hybrid control algorithm with both position control and vibration control are designed, using the H -theory. The controller strongly solves the three common problems of flexure mechanisms simultaneously, including unmodeled uncertainties, the external disturbances and vibration caused by inherent low damping.

关键词： robust control     flexure mechanisms     flexure-based micromanipulator    

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非线性系统的自适应可拓控制器设计

翁庆昌,陈珍源

《中国工程科学》 2001年 第3卷 第7期   页码 54-58

摘要：

探讨可拓控制器的设计方法,利用自适应控制的设计策略来修正可拓控制器的增益参数,以近似获得所期望的最佳控制。所提出的控制器结构仅需调整单一参数,故易于实现。另外,引入最大值控制以保证所设计的可拓控制系统的稳定性，并将该控制器应用在非线性系统的控制上,以验证它的有效性及控制能力。

关键词： 可拓理论     自适应控制     可拓控制器     鲁棒稳定性    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

《化学科学与工程前沿（英文）》 2022年 第16卷 第2期   页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control     black-box modeling     continuous-time system identification     machine learning     industrial applications of process control    

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离心机的自适应鲁棒控制系统

李果,张培昌,胡剑飞,余达太

《中国工程科学》 2006年 第8卷 第9期   页码 30-34

摘要：

为了改善离心机的控制性能和稳定性，进行了离心机的自适应鲁棒控制系统研究；基于电动机与离心机相连的结构，设计了控制器以期得到满意的控制性能；首先提出了一种基于自适应鲁棒控制器的离心机控制系统，针对离心机模型设计了自适应鲁棒控制算法；试验结果证明了该控制算法的有效性；在环境条件不同的情况下，离心机控制系统仍表现了满意的控制性能。

关键词： 离心机     自适应控制     鲁棒控制    

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Toward a nonlinear control of an AC-DC-PWM converter dedicated to induction heating

Amel HADRI-HAMIDA, S. ZEROUALI, A. ALLAG

《能源前沿（英文）》 2013年 第7卷 第2期   页码 140-145 doi: 10.1007/s11708-013-0243-0

摘要： In this paper, a nonlinear control strategy applied to an AC-DC-pulse width modulation (PWM) converter is developed and simulated. First a nonlinear system modeling is derived with state variables of the input current and the output voltage by using power balance of the input and output. The system is linearized and decoupled, and then a state feedback law is obtained. For robust control of parameter perturbation, integrators are added to the exact feedback control law. The simulation is provided to verify the validity of the control algorithm.

关键词： DC-DC converter     AC-DC-pulse width modulation (PWM) converter     induction heating     nonlinear control    

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移动卫星天线μ鲁棒控制设计

李果,胡剑飞,姬献征

《中国工程科学》 2007年 第9卷 第5期   页码 22-26

摘要：

建立了基于移动卫星天线的控制系统，并针对移动卫星天线模型，设计μ鲁棒控制器，试验结果证 明了控制器有效性；尽管外界环境道路变化不同，移动卫星天线控制系统表现出满意的控制性能。

关键词： 移动卫星天线     μ设计     鲁棒控制    

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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

《信息与电子工程前沿（英文）》 2015年 第16卷 第9期   页码 759-768 doi: 10.1631/FITEE.1500053

摘要： This paper investigates the trajectory tracking control for a class of nonlinear systems with timevarying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the definition of the tracking control is given. Second, the performance analysis of the closed-loop system including this unified model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the sense. The reference model adopted here is modified to be more flexible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

关键词： H∞     reference tracking     Nonlinear system     State feedback control     Time-varying delays     Unified model    

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基于μ综合鲁棒控制的四轮转向车辆操纵稳定性研究

殷国栋,陈南,李普

《中国工程科学》 2005年 第7卷 第4期   页码 54-58

摘要：

车辆总是承担不同的载荷，车辆建模亦存在着误差，传统四轮转向控制器难以达到原有的性能指标；针对外界干扰，采用μ综合鲁棒控制方法，构造横摆角速度跟踪综合控制系统设计框架，选取了不同环节的权函数。仿真结果表明，四轮转向车辆控制系统具有良好的动态性能、鲁棒稳定性和鲁棒性能，有效地提高了车辆操纵稳定性和安全性。

关键词： 四轮转向     鲁棒控制     操纵稳定性     μ综合    

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Polynomial robust observer implementation based passive synchronization of nonlinear fractional-order

Alain Soup Tewa Kammogne, Michaux Noubé Kountchou, Romanic Kengne, Ahmad Taher Azar, Hilaire Bertrand Fotsin, Soup Teoua Michael Ouagni,kouaneteoua@yahoo.fr,aazar@psu.edu.sa,ahmad.azar@fci.bu.edu.eg

《信息与电子工程前沿（英文）》 2020年 第21卷 第9期   页码 1267-1412 doi: 10.1631/FITEE.1900430

摘要： A robust polynomial observer is designed based on passive synchronization of a given class of r Colpitts (FOC) systems with mismatched uncertainties and disturbances. The primary objective of the proposed observer is to minimize the effects of unknown bounded disturbances on the estimation of errors. A more practicable output-feedback passive controller is proposed using an adaptive polynomial state observer. The distributed approach of a continuous frequency of the FOC is considered to analyze the stability of the observer. Then we derive some stringent conditions for the robust passive synchronization using Finsler’s lemma based on the fractional Lyapunov stability theory. It is shown that the proposed method not only guarantees the asymptotic stability of the controller but also allows the derived adaptation law to remove the uncertainties within the nonlinear plant’s dynamics. The entire system using passivity is implemented with details in PSpice to demonstrate the feasibility of the proposed control scheme. The results of this research are illustrated using computer simulations for the control problem of the r chaotic Colpitts system. The proposed approach depicts an efficient and systematic control procedure for a large class of nonlinear systems with the fractional derivative.
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火箭炮交流位置伺服系统的鲁棒最优控制

柴华伟,马大为,李志刚,乐贵高,王锋

《中国工程科学》 2007年 第9卷 第10期   页码 83-87

摘要：

为了实现某火箭炮交流伺服系统的高速、高精度位置控制，针对实际系统中存在的转动惯量和负载力矩变化大、冲击力矩强等各种不确定因素，提出了一种鲁棒最优控制方法。实验结果表明，该控制器鲁棒性强，而且具有较好的动态性能及稳态精度。

关键词： 火箭炮     交流位置伺服系统     鲁棒控制     最优控制    

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标题 作者 时间 类型 操作

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

Jianyong YAO

期刊论文

Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

期刊论文

Robust nonlinear control via feedback linearization and Lyapunov theory for permanent magnet synchronous

Ridha CHEIKH, Arezki MENACER, L. CHRIFI-ALAOUI, Said DRID

期刊论文

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

期刊论文

Robust control of

Xueyan TANG, I-Ming CHEN

期刊论文

非线性系统的自适应可拓控制器设计

翁庆昌,陈珍源

期刊论文

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

期刊论文

离心机的自适应鲁棒控制系统

李果,张培昌,胡剑飞,余达太

期刊论文

Toward a nonlinear control of an AC-DC-PWM converter dedicated to induction heating

Amel HADRI-HAMIDA, S. ZEROUALI, A. ALLAG

期刊论文

移动卫星天线μ鲁棒控制设计

李果,胡剑飞,姬献征

期刊论文

reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

期刊论文

基于μ综合鲁棒控制的四轮转向车辆操纵稳定性研究

殷国栋,陈南,李普

期刊论文

Polynomial robust observer implementation based passive synchronization of nonlinear fractional-order

Alain Soup Tewa Kammogne, Michaux Noubé Kountchou, Romanic Kengne, Ahmad Taher Azar, Hilaire Bertrand Fotsin, Soup Teoua Michael Ouagni,kouaneteoua@yahoo.fr,aazar@psu.edu.sa,ahmad.azar@fci.bu.edu.eg

期刊论文

火箭炮交流位置伺服系统的鲁棒最优控制

柴华伟,马大为,李志刚,乐贵高,王锋

期刊论文