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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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Adaptive output feedback formation tracking for a class of multiagent systems with quantized input signals None

Jing-lin HU, Xiu-xia SUN, Lei HE, Ri LIU, Xiong-feng DENG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1086-1097 doi: 10.1631/FITEE.1601801

Abstract:

A novel adaptive output feedback control approach is presented for formation tracking of a multiagent system with uncertainties and quantized input signals. The agents are described by nonlinear dynamics models with unknown parameters and immeasurable states. A high-gain dynamic state observer is established to estimate the immeasurable states. With a proper design parameter choice, an adaptive output feedback control method is developed employing a hysteretic quantizer and the designed dynamic state observer. Stability analysis shows that the control strategy can guarantee that the agents can maintain the formation shape while tracking the reference trajectory. In addition, all the signals in the closed-loop system are bounded. The effectiveness of the control strategy is validated by simulation.

Keywords： Multiagent system     Adaptive output feedback     Formation tracking     Hysteretic quantizer    

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The Adaptive Robust Controller of the Centrifuge

Li Guo,Zhang Peichang,Hu Jianfei,Yu Dafei

Strategic Study of CAE 2006, Volume 8, Issue 9,   Pages 30-34

Abstract:

This paper investigates the use of the adaptive robust controller for improving control performance and stability of the centrifuge. Based on its structural merit that the electric motor is connected to the centrifuge, the implementation of a control system is expected to achieve satisfactory control performance. An adaptive robust control algorithm of the centrifuge is presented in the paper, and the adaptive robust controller is designed according to the centrifuge model. The effectiveness of the algorithm is verified by the experimental results. It is clarified that the control performance and stability of the centrifuge is improved and the control system still maintains satisfactory control performance despite the change of environment conditions.

Keywords： centrifuge     adaptive control     robust control    

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High Precision Adaptive Predictive Control for Cruise Missile

Sun Mingwei,Chen Zengqiang,Yuan Zhuzhi,Ren Qiang,Yang Ming

Strategic Study of CAE 2005, Volume 7, Issue 10,   Pages 23-27

Abstract:

Cruise missile achieves good flight performance by means of stabilization and regulation of its attitudes. Based on analysis of the perturbation model of missile*s dynamic characteristics, series control structures are constructed for attitude control loop, and their discrete models are served as controlled plant for recursive least square (RLS) based adaptive predictive control, thus the mass center control with slow response transforms into trajectory angle control with fast response and high precision. On the basis of missile’s characteristics, generalized predictive control (GPC) is used in inner attitude loop, and an integral form of predictive control is adopted in outter trajectory loop. Effective transformation from mass center command to trajectory reference has achieved to realize high precision tracking. This method realizes the integration of attitude reference signal with guidance command, and that of attitude control with mass center control. It can reduce precision requirements on aerodynamic data and the control parameters can be easily selected. The numerical simulations demonstrate its effectiveness. Finally, some further academic directions are presented.

Keywords： cruise missile     adaptive control     model based predictive control     robustness    

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Pricing Based Adaptive Call Admission Control Algorithm for Wireless Networks

Zhang Xue

Strategic Study of CAE 2006, Volume 8, Issue 4,   Pages 32-38

Abstract:

In order to efficiently and effectively control the use of wireless network resources, in this paper, according to the characteristic of adaptive multimedia applications in which bandwidths can be adjusted dynamically, and the influence of pricing on the users' behavior, an adaptive admission control algorithm integrated with pricing is proposed. The algorithm, in with the price is adjusted dynamically based on the current network conditions, is fit for the multi-priorilies services. Attempt is tried to make best balance between the efficiency and simplicity for the pricing scheme. Comparison of the performance of the proposed approach is made with the corresponding results of conventional systems where pricing is not taken into consideration in CAC process. The performance results verify the considerable improvement achieved by the integration of pricing with CAC in wireless networks.

Keywords： wireless networks     adaptive call admission control     microeconomic theory     pricing     connection level QoS    

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Adaptive tracking control for air-breathing hypersonic vehicles with state constraints Article

Gong-jun LI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 5,   Pages 599-614 doi: 10.1631/FITEE.1500464

Abstract: We investigate the adaptive tracking problem for the longitudinal dynamics of state-constrained airbreathing hypersonic vehicles, where not only the velocity and the altitude, but also the angle of attack (AOA) is required to be tracked. A novel indirect AOA tracking strategy is proposed by viewing the pitch angle as a new output and devising an appropriate pitch angle reference trajectory. Then based on the redefined outputs (i.e., the velocity, the altitude, and the pitch angle), a modified backstepping design is proposed where the barrier Lyapunov function is used to solve the state-constrained control problem and the control gain of this class of systems is unknown. Stability analysis is given to show that the tracking objective is achieved, all the closed-loop signals are bounded, and all the states always satisfy the given constraints. Finally, numerical simulations verify the effectiveness of the proposed approach.

Keywords： Hypersonic vehicle     Constraints     Output redefinition     Barrier Lyapunov function    

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Adaptive Extension Controller Design for Nonlinear Systems

Wong Qingchang,Chen Zhenyuan

Strategic Study of CAE 2001, Volume 3, Issue 7,   Pages 54-58

Abstract:

A design method for the extension controller is developed in this paper. The proposed adaptive extension control resulting from the direct adaptive approach is employed to directly adapt the gain parameter of the extension controller. Then the constructed controller can be best approximated to a given optimal control. Unlike the fuzzy controller, only one linguistic — like level is needed in the extension controller. The merits of the proposed controller are that (a) the number of adaptation parameter is small; (b) the design algorithm is easily to be implemented. In addition, a maximum control is established to guarantee the system robust stability. The derivation shows that the proposed extension controller is stable in the sense of the Lyapunov. Finally, a nonlinear system simulation example is applied to verifying the effectiveness and the ability of the proposed adaptive extension controller.

Keywords： extension theory     adaptive control     extension controller     robust stability    

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Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation Article

Robins Mathew,Somashekhar S. Hiremath

Engineering 2018, Volume 4, Issue 4,   Pages 491-499 doi: 10.1016/j.eng.2018.07.013

Abstract:

Finding an optimal trajectory from an initial point to a final point through closely packed obstacles, and controlling a Hilare robot through this trajectory, are challenging tasks. To serve this purpose, path planners and trajectory-tracking controllers are usually included in a control loop. This paper highlights the implementation of a trajectory-tracking controller on a stepper motor-driven Hilare robot, with a trajectory that is described as a set of waypoints. The controller was designed to handle discrete waypoints with directional discontinuity and to consider different constraints on the actuator velocity. The control parameters were tuned with the help of multi-objective particle swarm optimization to minimize the average cross-track error and average linear velocity error of the mobile robot when tracking a predefined trajectory. Experiments were conducted to control the mobile robot from a start position to a destination position along a trajectory described by the waypoints. Experimental results for tracking the trajectory generated by a path planner and the trajectory specified by a user are also demonstrated. Experiments conducted on the mobile robot validate the effectiveness of the proposed strategy for tracking different types of trajectories.

Keywords： Trajectory tracking     Adaptive control     Waypoint navigation     Hilare robot     Particle swarm optimization     Probabilistic road map    

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Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters Research

Fan XU, Jin WANG, Guo-dong LU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11,   Pages 1316-1327 doi: 10.1631/FITEE.1601707

Abstract:

The problem of self-tuning control with a two-manipulator system holding a rigid object in the presence of inaccurate translational base frame parameters is addressed. An adaptive robust neural controller is proposed to cope with inaccurate translational base frame parameters, internal force, modeling uncertainties, joint friction, and external disturbances. A radial basis function neural network is adopted for all kinds of dynamical estimation, including undesired internal force. To validate the effectiveness of the proposed approach, together with simulation studies and analysis, the position tracking errors are shown to asymptotically converge to zero, and the internal force can be maintained in a steady range. Using an adaptive engine, this approach permits accurate online calibration of the relative translational base frame parameters of the involved manipulators. Specialized robust compensation is established for global stability. Using a Lyapunov approach, the controller is proved robust in the face of inaccurate base frame parameters and the aforementioned uncertainties.

Keywords： Cooperative manipulators     Neural networks     Inaccurate translational base frame     Adaptive control     Robust control    

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Model-free adaptive control for three-degree-of-freedom hybrid magnetic bearings Article

Ye YUAN, Yu-kun SUN, Qian-wen XIANG, Yong-hong HUANG, Zhi-ying ZHU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 12,   Pages 2035-2045 doi: 10.1631/FITEE.1700324

Abstract: Mathematical models are disappointing due to uneven distribution of the air gap magnetic field and significant unmodeled dynamics in magnetic bearing systems. The effectiveness of control deteriorates based on an inaccurate mathematical model, creating slow response speed and high jitter. To solve these problems, a model-free adaptive control (MFAC) scheme is proposed for a three-degree-of-freedom hybrid magnetic bearing (3-DoF HMB) control system. The scheme for 3-DoF HMB depends only on the control current and the objective balanced position, and it does not involve any model information. The design process of a parameter estimation algorithm is model-free, based directly on pseudo-partial-derivative (PPD) derived online from the input and output data information. The rotor start-of-suspension position of the HMB is regulated by auxiliary bearings with different inner diameters, and two kinds of operation situations (linear and nonlinear areas) are present to analyze the validity of MFAC in detail. Both simulations and experiments demonstrate that the proposed MFAC scheme handles the 3-DoF HMB control system with start-of-suspension response speed, smaller steady state error, and higher stability.

Keywords： Model-free adaptive control     Hybrid magnetic bearings     Nonlinear areas     Faster response     Higher stability    

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Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear systems Article

Xiao-yu ZHANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 12,   Pages 1331-1343 doi: 10.1631/FITEE.1500318

Abstract: Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented for trajectory tracking problems with disturbance. To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical system is used to implement an equivalent control, in which the parameters are self-tuned online. Stability of the sliding mode control is validated using the Lyapunov analysis theory. The overall system is adaptive, asymptotically stable, and chattering-free. A numerical simulation and an application to a robotic arm with two degrees of freedom further verify the good performance of the control design.

Keywords： Nonlinear system     Discrete system     Dynamic fuzzy logical system     Direct adaptive     Sliding mode control    

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Event-triggered adaptive finite-time control for nonlinear systems under asymmetric time-varying state constraints Research Article

Yan Wei, Jun Luo, Huaicheng Yan, Yueying Wang,wyy676@126.com

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 12,   Pages 1551-1684 doi: 10.1631/FITEE.2000692

Abstract: This paper investigates the issue of event-triggered adaptive state-constrained control for multi-input multi-output uncertain nonlinear systems. To prevent asymmetric time-varying from being violated, a tan-type is established to transform the considered system into an equivalent “non-constrained” system. By employing a smooth switch function in the virtual control signals, the singularity in the traditional dynamic surface control can be avoided. Fuzzy logic systems are used to compensate for the unknown functions. A suitable event-triggering rule is introduced to determine when to transmit the control laws. Through Lyapunov analysis, the closed-loop system is proved to be semi-globally practical stable, and the are never violated. Simulations are provided to evaluate the effectiveness of the proposed approach.

Keywords： 事件触发控制；非线性映射；自适应模糊控制；有限时间；状态约束    

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Adaptive green traffic signal controlling using vehicular communication Article

Erfan SHAGHAGHI,Mohammad Reza JABBARPOUR,Rafidah MD NOOR,Hwasoo YEO,Jason J. JUNG

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 373-393 doi: 10.1631/FITEE.1500355

Abstract: The importance of using adaptive traffic signal control for figuring out the unpredictable traffic congestion in today’s metropolitan life cannot be overemphasized. The vehicular ad hoc network (VANET), as an integral component of intelligent transportation systems (ITSs), is a new potent technology that has recently gained the attention of academics to replace traditional instruments for providing information for adaptive traffic signal controlling systems (TSCSs). Meanwhile, the suggestions of VANET-based TSCS approaches have some weaknesses: (1) imperfect compatibility of signal timing algorithms with the obtained VANET-based data types, and (2) inefficient process of gathering and transmitting vehicle density information from the perspective of network quality of service (QoS). This paper proposes an approach that reduces the aforementioned problems and improves the performance of TSCS by decreasing the vehicle waiting time, and subsequently their pollutant emissions at intersections. To achieve these goals, a combination of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications is used. The V2V communication scheme incorporates the procedure of density calculation of vehicles in clusters, and V2I communication is employed to transfer the computed density information and prioritized movements information to the road side traffic controller. The main traffic input for applying traffic assessment in this approach is the queue length of vehicle clusters at the intersections. The proposed approach is compared with one of the popular VANET-based related approaches called MC-DRIVE in addition to the traditional simple adaptive TSCS that uses the Webster method. The evaluation results show the superiority of the proposed approach based on both traffic and network QoS criteria.

Keywords： Vehicular ad hoc network (VANET)     Intelligent transportation systems (ITSs)     Clustering     Adaptive traffic signal control     Traffic controller     Fuel consumption    

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Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

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

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 1,   Pages 55-66 doi: 10.1631/FITEE.15a0160

Abstract: This paper presents a velocity controller for the of a trench cutter (TC). The cutting velocity of a is affected by the unknown load characteristics of rock and soil. In addition, geological conditions vary with time. Due to the complex load characteristics of rock and soil, the cutting load torque of a cutter is related to the geological conditions and the feeding velocity of the cutter. Moreover, a cutter’s dynamic model is subjected to uncertainties with unknown effects on its function. In this study, to deal with the particular characteristics of a , a novel (AFISMC) is designed for controlling cutting velocity. The model combines the robust characteristics of an integral sliding mode controller with the adaptive adjusting characteristics of an adaptive fuzzy controller. The AFISMC ler is synthesized using the backstepping technique. The stability of the whole system including the fuzzy inference system, integral sliding mode controller, and the is proven using the Lyapunov theory. Experiments have been conducted on a TC test bench with the AFISMC under different operating conditions. The experimental results demonstrate that the proposed AFISMC ler gives a superior and robust velocity tracking performance.

Keywords： Cutting system     Electro-hydraulic system     Cutting velocity control     Adaptive fuzzy integral sliding mode control    

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robustmethod Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 303-316 doi: 10.1631/FITEE.1500353

Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

Keywords： Parameter initialization     Adaptive robust control     Parallel mechanism     Pneumatic cylinders    

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Title Author Date Type Operation

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

Adaptive output feedback formation tracking for a class of multiagent systems with quantized input signals

Jing-lin HU, Xiu-xia SUN, Lei HE, Ri LIU, Xiong-feng DENG

Journal Article

The Adaptive Robust Controller of the Centrifuge

Li Guo,Zhang Peichang,Hu Jianfei,Yu Dafei

Journal Article

High Precision Adaptive Predictive Control for Cruise Missile

Sun Mingwei,Chen Zengqiang,Yuan Zhuzhi,Ren Qiang,Yang Ming

Journal Article

Pricing Based Adaptive Call Admission Control Algorithm for Wireless Networks

Zhang Xue

Journal Article

Adaptive tracking control for air-breathing hypersonic vehicles with state constraints

Gong-jun LI

Journal Article

Adaptive Extension Controller Design for Nonlinear Systems

Wong Qingchang,Chen Zhenyuan

Journal Article

Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation

Robins Mathew,Somashekhar S. Hiremath

Journal Article

Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters

Fan XU, Jin WANG, Guo-dong LU

Journal Article

Model-free adaptive control for three-degree-of-freedom hybrid magnetic bearings

Ye YUAN, Yu-kun SUN, Qian-wen XIANG, Yong-hong HUANG, Zhi-ying ZHU

Journal Article

Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear systems

Xiao-yu ZHANG

Journal Article

Event-triggered adaptive finite-time control for nonlinear systems under asymmetric time-varying state constraints

Yan Wei, Jun Luo, Huaicheng Yan, Yueying Wang,wyy676@126.com

Journal Article

Adaptive green traffic signal controlling using vehicular communication

Erfan SHAGHAGHI,Mohammad Reza JABBARPOUR,Rafidah MD NOOR,Hwasoo YEO,Jason J. JUNG

Journal Article

Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

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

Journal Article

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robustmethod

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Journal Article