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Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer Regular Papers-Research Articles

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, Wen-zhuo SHI, Kai GUO

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 9, Pages 1221-1233 doi: 10.1631/FITEE.1800155

Abstract: In this paper, we deal with both velocity control and force control of a single-rod electro-hydraulic actuator subject to external disturbances and parameter uncertainties. In some implementations, both velocity control and force control are required. Impedance control and an extended disturbance observer are combined to solve this issue. Impedance control is applied to regulate the dynamic relationship between the velocity and output force of the actuator, which can help avoid impact and keep a proper contact force on the environment or workpieces. Parameters of impedance rules are regulated by a fuzzy algorithm. An extended disturbance observer is employed to account for external disturbances and parameter uncertainties to achieve an accurate velocity tracking. A detailed model of load force dynamics is presented for the development of the extended disturbance observer. The stability of the whole system is analyzed. Experimental results demonstrate that the proposed control strategy has not only a high velocity tracking performance, but also a good force adjustment performance, and that it should be widely applied in construction and assembly.

Keywords： Fuzzy control Impedance control Disturbance observer Parameter uncertainties Electro-hydraulic actuator

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Disturbance rejection via iterative learning controlwith a disturbance observer for active magnetic bearing systems None

Ze-zhi TANG, Yuan-jin YU, Zhen-hong LI, Zheng-tao DING

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1, Pages 131-140 doi: 10.1631/FITEE.1800558

Abstract:

Although standard iterative learning control (ILC) approaches can achieve perfect tracking for active magnetic bearing (AMB) systems under external disturbances, the disturbances are required to be iteration-invariant. In contrast to existing approaches, we address the tracking control problem of AMB systems under iteration-variant disturbances that are in different channels from the control inputs. A disturbance observer based ILC scheme is proposed that consists of a universal extended state observer (ESO) and a classical ILC law. Using only output feedback, the proposed control approach estimates and attenuates the disturbances in every iteration. The convergence of the closed-loop system is guaranteed by analyzing the contraction behavior of the tracking error. Simulation and comparison studies demonstrate the superior tracking performance of the proposed control approach.

Keywords： Active magnetic bearings (AMBs) Iterative learning control (ILC) Disturbance observer

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Constant-gain nonlinear adaptive observers revisited: an application to chemostat systems Research Articles

Jorge A. Torres, Arno Sonck, Sergej Čelikovský, Alma R. Dominguez,jtorres@ctrl.cinvestav.mx,gsonck@ctrl.cinvestav.mx,celikovs@utia.cas.cz,adomin@cinvestav.mx

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1, Pages 1-140 doi: 10.1631/FITEE.2000368

Abstract: This study deals with constant-gain for nonlinear systems, for which relatively few solutions are available for some particular cases. We introduce an asymptotic observer of constant gain for nonlinear systems that have linear input. This allows the observer design to be formulated within the linear matrix inequality paradigm provided that a strictly positive real condition between the input disturbance and the output is fulfilled. The proposed observer is then applied to a large class of nonlinear dynamical systems that are widely used in the fermentation process, cell cultures, medicine, etc. In fact, under standard practical assumptions, the necessary change of the state coordinates exists, allowing use of the constant-gain observer. Finally, the developed theory is illustrated by estimating pollutant concentration in a wastewater treatment facility.

Keywords： Nonlinear observers Adaptive observers Coordinate change Chemostat Pollutant observation

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Observer-based control for fractional-order singular systems with order Research Article

Bingxin LI, Xiangfei ZHAO, Xuefeng ZHANG, Xin ZHAO

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 12, Pages 1862-1870 doi: 10.1631/FITEE.2200294

Abstract: In this paper, for fractional-order with order (0<<1) and is studied. On the basis of the Smith predictor and approximation error, the system with is approximately equivalent to the system without . Furthermore, based on the (LMI) technique, the necessary and sufficient condition of is proposed. Since the condition is a nonstrict LMI, including the equality constraint, it will lead to some trouble when solving problems using toolbox. Thus, the strict LMI-based condition is improved in the paper. Finally, a numerical example and a direct current motor example are given to illustrate the effectiveness of the strict LMI-based condition.

Keywords： Observer-based control Singular systems Fractional order Input delay Linear matrix inequality

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A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems Research Articles

Jun-feng Jiang, Xiao-jun Zhou, Wei Zhao, Wei Li, Wen-dong Zhang,cmeesky@163.com

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 8, Pages 1119-1266 doi: 10.1631/FITEE.1900298

Abstract: has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems, a new method that has fast response and good robustness is proposed in this study. First, a modified integral terminal is developed, which has a fast-sliding surface and a continuous reaching law. Then, an is applied to measure the internal and external disturbances. Therefore, the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods, the proposed method has faster response and better robustness against system disturbances. In addition, the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness, and enables high-precision control.

Keywords： Permanent magnet synchronous motor (PMSM) Sliding mode controller Extended state observer Robust control Motion control

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Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer Research Articles

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 2, Pages 328-338 doi: 10.1631/FITEE.2000317

Abstract: In this paper, an intelligent control (FOISMC) strategy based on an improved cascade is proposed. First, an FOISMC strategy is designed to control a . It has good tracking performance, is strongly robust, and can effectively reduce chattering. The proposed FOISMC strategy associates strong points of the integral action (which can eliminate steady-state tracking errors) and the fractional calculus (which is flexible). Second, an improved cascade is proposed to detect the rotor information with a smaller observation error. The proposed combines an adaptive sliding mode and an extended high-gain . In addition, an improved variable-speed grey wolf is designed to enhance controller parameters. The effectiveness of the strategy is tested using simulations and an experiment involving model uncertainty and external disturbance.

Keywords： Permanent magnet synchronous motor Fractional-order integral sliding mode Optimization algorithm Sensorless control Observer

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Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance Research Articles

Xuerao Wang, Qingling Wang, Changyin Sun,wangxuerao@seu.edu.cn,qlwang@seu.edu.cn,cysun@seu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 7, Pages 986-1001 doi: 10.1631/FITEE.2000145

Abstract: In this paper, an observer-based adaptive tracking control scheme is developed for a class of uncertain multi-input multi-output nonlinear systems with or without . A novel finite-time is constructed to estimate the system uncertainties and external disturbances. To guarantee the , an error transformation is applied to transfer the time-varying constraints into a constant constraint. Then, by employing a barrier Lyapunov function and the backstepping technique, an observer-based tracking control strategy is presented. It is proven that using the proposed algorithm, all the closed-loop signals are bounded, and the tracking errors satisfy the predefined time-varying performance requirements. Finally, simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.

Keywords：自适应跟踪控制；预设性能；输入饱和；干扰观测器；神经网络

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Decentralized fault-tolerant cooperative control of multipleUAVs with prescribed attitude synchronization tracking performance under directed communication topology Regular Papers

Zi-quan YU, Zhi-xiang LIU, You-min ZHANG, Yao-hong QU, Chun-yi SU

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 5, Pages 685-700 doi: 10.1631/FITEE.1800569

Abstract:

In this paper, a decentralized fault-tolerant cooperative control scheme is developed for multiple unmanned aerial vehicles (UAVs) in the presence of actuator faults and a directed communication network. To counteract in-flight actuator faults and enhance formation flight safety, neural networks (NNs) are used to approximate unknown nonlinear terms due to the inherent nonlinearities in UAV models and the actuator loss of control effectiveness faults. To further compensate for NN approximation errors and actuator bias faults, the disturbance observer (DO) technique is incorporated into the control scheme to increase the composite approximation capability. Moreover, the prediction errors, which represent the approximation qualities of the states induced by NNs and DOs to the measured states, are integrated into the developed fault-tolerant cooperative control scheme. Furthermore, prescribed performance functions are imposed on the attitude synchronization tracking errors, to guarantee the prescribed synchronization tracking performance. One of the key features of the proposed strategy is that unknown terms due to the inherent nonlinearities in UAVs and actuator faults are compensated for by the composite approximators constructed by NNs, DOs, and prediction errors. Another key feature is that the attitude synchronization tracking errors are strictly constrained within the prescribed bounds. Finally, simulation results are provided and have demonstrated the effectiveness of the proposed control scheme.

Keywords： Fault-tolerant control Decentralized control Prescribed performance Unmanned aerial vehicle Neural network Disturbance observer Directed topology

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Synchronization of two different chaotic systems using Legendre polynomials with applications in secure communications None

Saeed KHORASHADIZADEH, Mohammad-Hassan MAJIDI

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9, Pages 1180-1190 doi: 10.1631/FITEE.1601814

Abstract:

In this study, a new controller for chaos synchronization is proposed. It consists of a state feedback controller and a robust control term using Legendre polynomials to compensate for uncertainties. The truncation error is also considered. Due to the orthogonal functions theorem, Legendre polynomials can approximate nonlinear functions with arbitrarily small approximation errors. As a result, they can replace fuzzy systems and neural networks to estimate and compensate for uncertainties in control systems. Legendre polynomials have fewer tuning parameters than fuzzy systems and neural networks. Thus, their tuning process is simpler. Similar to the parameters of fuzzy systems, Legendre coefficients are estimated online using the adaptation rule obtained from the stability analysis. It is assumed that the master and slave systems are the Lorenz and Chen chaotic systems, respectively. In secure communication systems, observer-based synchronization is required since only one state variable of the master system is sent through the channel. The use of observer-based synchronization to obtain other state variables is discussed. Simulation results reveal the effectiveness of the proposed approach. A comparison with a fuzzy sliding mode controller shows that the proposed controller provides a superior transient response. The problem of secure communications is explained and the controller performance in secure communications is examined.

Keywords： Observer-based synchronization Chaotic systems Legendre polynomials Secure communications

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Study on auto-disturbances-rejection AC adjustable speed based on speed sensorless direct torque control

Dai Juchuan,Wu Xinkai,Wen Li

Strategic Study of CAE 2009, Volume 11, Issue 4, Pages 91-95

Abstract:

In direct torque control system, the PID controller is often adopted to be the speed adjuster. When disturbances are thrown to the motor, a long time is taken to renew the motor to steady state. In this paper, new auto-disturbance-rejection controller (ADRC) is introduced into direct torque control system. Instead of PID speed adjuster, ADRC speed adjuster is designed. The speed observer is designed based on model reference adaptive system (MRAS), too. The performance difference is analyzed between PID controller and ADRC in speed sensorless direct torque control system. The simulation results show that the AC speed adjustable system has speedier response performance, stronger disturbance-rejection performance when ADRC is adopted. Moreover, according to simulation results, there is smaller warp between motor command speed and actual speed when motor parameters perturb.

Keywords： direct torque control active disturbances rejection control speed observer speed sensorless induction motor

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Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles Research Article

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7, Pages 1020-1031 doi: 10.1631/FITEE.2100559

Abstract: We investigate a for formations with external disturbances and obstacles. The strategy is based on a framework and . First, we propose a to estimate the influence of a disturbance, and prove that the observer converges in fixed time using a Lyapunov function. Second, we design an based on topology reconstruction, by which the UAV can save energy and safely pass obstacles. Third, we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors. Further, the cost function of each UAV is designed, by which the UAV formation problem is transformed into a game problem. Finally, we develop LFPIO and use it to solve the Nash equilibrium. Numerical simulations are conducted, and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.

Keywords： Distributed game strategy Unmanned aerial vehicle (UAV) Distributed model predictive control (MPC) Levy flight based pigeon inspired optimization (LFPIO) Non-singular fast terminal sliding mode observer (NFTSMO) Obstacle avoidance strategy

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SIoTFog: Byzantine-resilient IoT fog networking None

Jian-wen XU, Kaoru OTA, Mian-xiong DONG, An-feng LIU, Qiang LI

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 12, Pages 1546-1557 doi: 10.1631/FITEE.1800519

Abstract:

The current boom in the Internet of Things (IoT) is changing daily life in many ways, from wearable devices to connected vehicles and smart cities. We used to regard fog computing as an extension of cloud computing, but it is now becoming an ideal solution to transmit and process large-scale geo-distributed big data. We propose a Byzantine fault-tolerant networking method and two resource allocation strategies for IoT fog computing. We aim to build a secure fog network, called “SIoTFog,” to tolerate the Byzantine faults and improve the efficiency of transmitting and processing IoT big data. We consider two cases, with a single Byzantine fault and with multiple faults, to compare the performances when facing different degrees of risk. We choose latency, number of forwarding hops in the transmission, and device use rates as the metrics. The simulation results show that our methods help achieve an efficient and reliable fog network.

Keywords： Byzantine fault tolerance Fog computing Resource allocation Internet of Things (IoT)

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Development of Marine Equipment for Underwater Stereoscopic Observation

Ma Rui, Zhao Xiutao, Liu Cungen

Strategic Study of CAE 2020, Volume 22, Issue 6, Pages 19-25 doi: 10.15302/J-SSCAE-2020.06.003

Abstract:

Establishing an underwater stereoscopic observation network to obtain scientific, real-time, and comprehensive data is an important direction for understanding and exploiting the ocean in the future. This study first analyzes the need and necessity of developing the underwater stereoscopic observation equipment, then introduces the development status of the equipment in China and abroad, further analyzes the problems faced by China’s field development, and presents the key breakthrough points of marine sensors which serve as the key link for underwater observation. China has made great progress in technologies regarding marine observation platforms, but it still lags behind the world advanced level in key marine sensors and high-precision sensors. The big data obtained from ocean observation does not match the actual demand, and the ocean sensors lack the support from an improved platform. To guide the long-term development of related fields, we suggest that China should support the efficient transformation of research results of key marine sensors, coordinate the management of the marine equipment for underwater stereoscopic observation, and establish a national public test platform for offshore instruments and equipment.

Keywords： ocean observation sea floor observatory network underwater vehicle underwater sensor

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Initial position estimation strategy for a surface permanent magnet synchronous motor used in hybrid electric vehicles Article

Bing TIAN,Qun-tao AN,Li SUN,Dong-yang SUN,Jian-dong DUAN

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 8, Pages 803-813 doi: 10.1631/FITEE.1500298

Abstract: A novel nonlinear model for surface permanent magnet synchronous motors (SPMSMs) is adopted to estimate the initial rotor position for hybrid electric vehicles (HEVs). Usually, the accuracy of initial rotor position estimation for SPMSMs relies on magnetic saturation. To verify the saturation effect, the transient finite element analysis (FEA) model is presented first. Hybrid injection of a static voltage vector (SVV) superimposed with a high-frequency rotating voltage is proposed. The magnetic polarity is roughly identified with the aid of the saturation evaluation function, based on which an estimation of the position is performed. During this procedure, a special demodulation is suggested to extract signals of iron core saturation and rotor position. A Simulink/MATLAB platform for SPMSMs at standstill is constituted, and the effectiveness of the proposed strategy is verified. The proposed method is also validated by experimental results of an SPMSM drive.

Keywords： Surface permanent magnet synchronous motor (SPMSM) Initial position estimation Nonlinear model Hybrid injection Position observer

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Co-Estimation of State of Charge and Capacity for Lithium-Ion Batteries with Multi-Stage Model Fusion Method Article

Rui Xiong, Ju Wang, Weixiang Shen, Jinpeng Tian, Hao Mu

Engineering 2021, Volume 7, Issue 10, Pages 1471-1484 doi: 10.1016/j.eng.2020.10.022

Abstract:

Lithium-ion batteries (LIBs) have emerged as the preferred energy storage systems for various types of electric transports, including electric vehicles, electric boats, electric trains, and electric airplanes. The energy management of LIBs in electric transports for all-climate and long-life operation requires the accurate estimation of state of charge (SOC) and capacity in real-time. This study proposes a multistage
model fusion algorithm to co-estimate SOC and capacity. Firstly, based on the assumption of a normal distribution, the mean and variance of the residual error from the model at different ageing levels are used to calculate the weight for the establishment of a fusion model with stable parameters. Secondly, a differential error gain with forward-looking ability is introduced into a proportional–integral observer
(PIO) to accelerate convergence speed. Thirdly, a fusion algorithm is developed by combining a multistage model and proportional–integral–differential observer (PIDO) to co-estimate SOC and capacity under a complex application environment. Fourthly, the convergence and anti-noise performance of the fusion algorithm are discussed. Finally, the hardware-in-the-loop platform is set up to verify the performance
of the fusion algorithm. The validation results of different aged LIBs over a wide range of temperature show that the presented fusion algorithm can realize a high-accuracy estimation of SOC and capacity with the relative errors within 2% and 3.3%, respectively.

Keywords： State of charge Capacity estimation Model fusion Proportional–integral–differential observer Hardware-in-the-loop

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Title Author Date Type Operation

Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, Wen-zhuo SHI, Kai GUO

Journal Article

Disturbance rejection via iterative learning controlwith a disturbance observer for active magnetic bearing systems

Ze-zhi TANG, Yuan-jin YU, Zhen-hong LI, Zheng-tao DING

Journal Article

Constant-gain nonlinear adaptive observers revisited: an application to chemostat systems

Jorge A. Torres, Arno Sonck, Sergej Čelikovský, Alma R. Dominguez,jtorres@ctrl.cinvestav.mx,gsonck@ctrl.cinvestav.mx,celikovs@utia.cas.cz,adomin@cinvestav.mx

Journal Article

Observer-based control for fractional-order singular systems with order

Bingxin LI, Xiangfei ZHAO, Xuefeng ZHANG, Xin ZHAO

Journal Article

A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems

Jun-feng Jiang, Xiao-jun Zhou, Wei Zhao, Wei Li, Wen-dong Zhang,cmeesky@163.com

Journal Article

Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Journal Article

Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance

Xuerao Wang, Qingling Wang, Changyin Sun,wangxuerao@seu.edu.cn,qlwang@seu.edu.cn,cysun@seu.edu.cn

Journal Article

Decentralized fault-tolerant cooperative control of multipleUAVs with prescribed attitude synchronization tracking performance under directed communication topology

Zi-quan YU, Zhi-xiang LIU, You-min ZHANG, Yao-hong QU, Chun-yi SU

Journal Article

Synchronization of two different chaotic systems using Legendre polynomials with applications in secure communications

Saeed KHORASHADIZADEH, Mohammad-Hassan MAJIDI

Journal Article

Study on auto-disturbances-rejection AC adjustable speed based on speed sensorless direct torque control

Dai Juchuan,Wu Xinkai,Wen Li

Journal Article

Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Journal Article

SIoTFog: Byzantine-resilient IoT fog networking