This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is...When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.展开更多
Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitation...Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system parameters.Consequently, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS theories.The paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded conditions.The paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.展开更多
We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexit...We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexity theory. By incorporating general relativistic effects into complexity theory through a gravitational correction factor, we prove that problems can transition between complexity classes depending on the observer’s reference frame and local gravitational environment. This insight emerges from recognizing that the definition of polynomial time implicitly assumes a universal time metric, an assumption that breaks down in curved spacetime due to gravitational time dilation. We demonstrate the existence of gravitational phase transitions in problem complexity, where an NP-complete problem in one reference frame becomes polynomially solvable in another frame experiencing extreme gravitational time dilation. Through rigorous mathematical formulation, we establish a gravitationally modified complexity theory that extends classical complexity classes to incorporate observer-dependent effects, leading to a complete framework for understanding how computational complexity transforms across different spacetime reference frames. This finding parallels other self-referential insights in mathematics and physics, such as Gödel’s incompleteness theorems and Einstein’s relativity, suggesting a deeper connection between computation, gravitation, and the nature of mathematical truth.展开更多
This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial...This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.展开更多
In permanent magnet synchronous motor(PMSM)control,the jitter problem affects the system performance,so a novel reaching lawis proposed to construct a non-singular fast terminal slidingmode controller(NFTSMC)to reduce...In permanent magnet synchronous motor(PMSM)control,the jitter problem affects the system performance,so a novel reaching lawis proposed to construct a non-singular fast terminal slidingmode controller(NFTSMC)to reduce the jitter.To enhance the immunity of the system,a disturbance observer is designed to observe and compensate for the disturbance to the sliding mode controller.In addition,considering that the controller parameters are difficult to adjust,and the traditional zebra optimization algorithm(ZOA)is prone to converge prematurely and fall into local optimum when solving the optimal solution,the improved zebra optimization algorithm(IZOA)is proposed,and the ability of the IZOA in practical applications is verified by using international standard test functions.To verify the performance of IZOA,firstly,the adjustment time of IZOA is reduced by 71.67%compared with ZOA through the step response,and secondly,the tracking error of IZOA is reduced by 51.52%compared with ZOA through the sinusoidal signal following.To verify the performance of the designed controller based on disturbance observer,the designed controller reduces the speed overshoot from 2.5%to 0.63%compared with the traditional NFTSMC in the speed mutation experiment,which is a performance improvement of 70.8%,and the designed controller outperforms the traditional NFTSMC in the load mutation experiment,which is a performance improvement of 60.0%in the case of sudden load addition,and a performance improvement of 90.0%in the case of load release,which verifies that the designed controller outperforms the traditional NFTSMC.展开更多
Accurate trajectory tracking in lower-limb exoskeletons is challenged by the nonlinear,time-varying dynamics of human-robot interaction,limited sensor availability,and unknown external disturbances.This study proposes...Accurate trajectory tracking in lower-limb exoskeletons is challenged by the nonlinear,time-varying dynamics of human-robot interaction,limited sensor availability,and unknown external disturbances.This study proposes a novel control strategy that combines flatness-based control with two cascaded observers:a high-gain observer to estimate unmeasured joint velocities,and a nonlinear disturbance observer to reconstruct external torque disturbances in real time.These estimates are integrated into the control law to enable robust,state-feedback-based trajectory tracking.The approach is validated through simulation scenarios involving partial state measurements and abrupt external torque perturbations,reflecting realistic rehabilitation conditions.Results confirm that the proposed method significantly enhances tracking accuracy and disturbance rejection capability,demonstrating its strong potential for reliable and adaptive rehabilitation assistance.展开更多
Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled pe...Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.展开更多
For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode contr...For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode control method, aimed at resolving the frame control problem of roll-pitch seeker tracking high maneu-vering target. The sliding mode surface is structured around the principle of segmentation, which enables the control system’s rapid attainment of the zero point and ensure global fast conver-gence. The system’s state is more swiftly converged to the slid-ing mode surface through an improved adaptive fast dual power reaching law. Utilizing an extended state observer, the overall disturbance is both identified and compensated. The validation of the system’s stability and its convergence within a finite-time is grounded in Lyapunov’s stability criteria. The performance of the introduced control method is confirmed through roll-pitch seeker tracking control simulation. Data analysis reveals that newly proposed control technique significantly outperforms existing sliding mode control methods by rapidly converging the frame to the target angle, reduce the tracking error of the detec-tor for the target, and bolster tracking precision of the roll-pitch seeker huring disturbed conditions.展开更多
This study offers an empirical comparison of the Linear Quadratic Regulator(LQR)and Fractional Order LQR(FOLQR)controllers that were implemented on a two-degrees-offreedom(2-DOF)Quanser Aero 2 helicopter platform.It e...This study offers an empirical comparison of the Linear Quadratic Regulator(LQR)and Fractional Order LQR(FOLQR)controllers that were implemented on a two-degrees-offreedom(2-DOF)Quanser Aero 2 helicopter platform.It employs both full and reduced-order observer designs to facilitate trajectory monitoring and stabilisation.The Aero 2 platform is dynamically modelled using Euler-Lagrange equations to develop a multi-input multi-output(MIMO)system.This system comprises two inputs and four state equations.In collaboration with observers,the LQR and FOLQR controllers approximate states that are not directly measurable by utilising the system model and available data.This procedure effectively overcomes the practical limitations of sensors.The enhanced performance of FOLQR in terms of tracking precision and stability has been depicted from the experimental results,showing real-time execution on the Aero 2 platform.This paper provides rigorous insights into control engineering and advanced observer-based control design for underactuated systems.展开更多
Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and a...Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and attain any orientation simultaneously due to their mecanum wheels makes it convenient to transport vehicles in a parking lot.In this study,a nonlinear disturbance observer-based sliding mode controller for the trajectory tracking problem of a P-AGV is proposed.The kinematic and dynamic models for a P-AGV tracking trajectory are first analyzed in sequence and the influences of disturbing forces considered.Subsequently,a nonlinear disturbance observer(NDO)is designed to estimate the disturbing forces and torques generated by the caster wheels.Based on the designed NDO,a robust nonsingular terminal sliding-mode(NTSM)controller is used to track reference trajectories.The stabilities of the NDO and NDO-NTSM control systems are theoretically verified using their Lyapunov functions.Finally,simulations and experiments are performed to verify the effectiveness of the proposed control scheme.The experimental results show that the proposed NDO-NTSM controller can improve the trajectory tracking stability by 42-68%compared to a traditional NTSM controller.The NDO-based sliding mode controller for trajectory tracking proposed in this study can effectively reduce the impact of disturbances on trajectory tracking accuracy.展开更多
With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to...With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.展开更多
In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.T...In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.展开更多
This study investigates the stabilization challenge at the boundaries of a type II thermoelastic network with n-star configuration and terminal masses,which experiences non-uniform bounded external disturbances at its...This study investigates the stabilization challenge at the boundaries of a type II thermoelastic network with n-star configuration and terminal masses,which experiences non-uniform bounded external disturbances at its control boundary.This research employs an advanced active disturbance rejection control framework,incorporating an innovative observer with adaptive gain characteristics for precise disturbance estimation,coupled with a robust feedback control mechanism for disturbance compensation.The theoretical analysis establishes rigorous convergence proofs for the proposed time-dependent extended state observer.Furthermore,this investigation utilizes semigroup theory to validate the closed-loop system’s well-posed.Through comprehensive Lyapunov-based analysis,this study confirms the system’s capability to achieve exponential convergence of tracking errors while effectively mitigating disturbance effects.Extensive numerical experiments corroborate the theoretical findings,demonstrating the control scheme’s practical efficacy.展开更多
Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an inte...Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an integrated approach that combines a Three-Dimensional Finite-Time Optimal Cooperative Guidance Law(FTOC)with an Information Fusion Anti-saturation Predefined-time Observer(IFAPO).The proposed FTOC guidance law employs a nonlinear,non-quadratic finite-time optimal control strategy designed for rapid convergence within the limited timeframes of near-space interceptions,avoiding the need for remaining flight time estimation or linear decoupling inherent in traditional methods.To complement the guidance strategy,the IFAPO leverages multi-source information fusion theory and incorporates anti-saturation mechanisms to enhance target maneuver estimation.This method ensures accurate and real-time prediction of target acceleration while maintaining predefined convergence performance,even under complex interception conditions.By integrating the FTOC guidance law and IFAPO,the approach optimizes cooperative missile positioning,improves interception success rates,and minimizes fuel consumption,addressing practical constraints in military applications.Simulation results and comparative analyses confirm the effectiveness of the integrated approach,demonstrating its capability to achieve cooperative interception of highly maneuvering targets with enhanced efficiency and reduced economic costs,aligning with realistic combat scenarios.展开更多
Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails ...Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.展开更多
In semiconductor precision packaging and other applications involving alignment of automated equipment,the nonlinear motion caused by structural characteristics and friction effects on torque-type rotating motion stag...In semiconductor precision packaging and other applications involving alignment of automated equipment,the nonlinear motion caused by structural characteristics and friction effects on torque-type rotating motion stages seriously affects output accuracy and stability.To solve this problem,the motion characteristics of a rotating stage and the mechanism by which friction nonlinearity influences accuracy are analyzed in detail.In addition,a compound control strategy based on a kinematic model and the Stribeck friction model is designed.A friction disturbance observer based on output position feedback is improved for simple parameter tuning.Finally,an experimental system is constructed to carry out validation tests,including identification of nonlinear characteristics and performance comparisons.The experimental results show that the linear tracking error of the torque-type rotating stage is less than 1.47µm after adoption of the proposed model-based composite control strategy,and the corresponding rotary angle deviation is less than 0.0153°.The linearity of output motion is increased to 97.59%and the error compensation effect is improved by 51.6%compared with the PID control method.The experimental results confirm that the analysis method adopted here and the proposed compensation strategy can effectively reduce frictional nonlinearity and improve motion accuracy.The proposed method can also be applied to other precision electromechanical systems.展开更多
This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state d...This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.展开更多
To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance c...To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance controller based on multi⁃observers for flexible spacecraft is proposed.First,to prevent unwinding phenomenon in attitude description,the rotation matrix is used to represent the spacecraft’s attitude.Second,the flexible modes observer which can guarantee predefined⁃time convergence is designed,for the case where flexible vibrations are unmeasurable in practice.What’s more,the disturbance observer is applied to estimate and compensate the lumped disturbances to improve the robustness of attitude control.A predefined-time controller is proposed to satisfy the prescribed performance and stabilize the attitude tracking system via barrier Lyapunov function.Finally,through comparative numerical simulations,the proposed controller can achieve high-precision convergence compared with the existing finite-time attitude tracking controller.This paper provides certain references for the high-precision predefined-time prescribed performance attitude tracking of flexible spacecraft with multi-disturbance.展开更多
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金Supported by the Major Science and Technology Projects in Jilin Province and Changchun City(20220301010GX).
文摘When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.
基金supported by the National Natural Science Foundation of China(62133008,62303273,62188101,62373226,62473173)Young Taishan Scholars Program of Shandong Province of China(tsqn202408206)+2 种基金a Project of Shandong Province Higher Educational Youth and Innovation Talent Introduction and Education Programthe Natural Science Foundation of Shandong Province,China(ZR2023QF072)China Postdoctoral Science Foundation(2022M721932)
文摘Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system parameters.Consequently, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS theories.The paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded conditions.The paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.
文摘We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexity theory. By incorporating general relativistic effects into complexity theory through a gravitational correction factor, we prove that problems can transition between complexity classes depending on the observer’s reference frame and local gravitational environment. This insight emerges from recognizing that the definition of polynomial time implicitly assumes a universal time metric, an assumption that breaks down in curved spacetime due to gravitational time dilation. We demonstrate the existence of gravitational phase transitions in problem complexity, where an NP-complete problem in one reference frame becomes polynomially solvable in another frame experiencing extreme gravitational time dilation. Through rigorous mathematical formulation, we establish a gravitationally modified complexity theory that extends classical complexity classes to incorporate observer-dependent effects, leading to a complete framework for understanding how computational complexity transforms across different spacetime reference frames. This finding parallels other self-referential insights in mathematics and physics, such as Gödel’s incompleteness theorems and Einstein’s relativity, suggesting a deeper connection between computation, gravitation, and the nature of mathematical truth.
文摘This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.
基金supported by the Key Technology of Flexible Regulation of Energy in Green High-Efficiency/Carbon-Efficient Buildings under the Smart Park System of PowerChina Guiyang Co.,Ltd.(YJ2022-12)the Science and Technology Support Plan of Guizhou Province“Research and Application Development of Key Technologies for Flexible Regulation of Energy in High-Efficiency/Carbon-Efficient Buildings”(Guizhou Science and Technology Cooperation Support[2023]General 409).
文摘In permanent magnet synchronous motor(PMSM)control,the jitter problem affects the system performance,so a novel reaching lawis proposed to construct a non-singular fast terminal slidingmode controller(NFTSMC)to reduce the jitter.To enhance the immunity of the system,a disturbance observer is designed to observe and compensate for the disturbance to the sliding mode controller.In addition,considering that the controller parameters are difficult to adjust,and the traditional zebra optimization algorithm(ZOA)is prone to converge prematurely and fall into local optimum when solving the optimal solution,the improved zebra optimization algorithm(IZOA)is proposed,and the ability of the IZOA in practical applications is verified by using international standard test functions.To verify the performance of IZOA,firstly,the adjustment time of IZOA is reduced by 71.67%compared with ZOA through the step response,and secondly,the tracking error of IZOA is reduced by 51.52%compared with ZOA through the sinusoidal signal following.To verify the performance of the designed controller based on disturbance observer,the designed controller reduces the speed overshoot from 2.5%to 0.63%compared with the traditional NFTSMC in the speed mutation experiment,which is a performance improvement of 70.8%,and the designed controller outperforms the traditional NFTSMC in the load mutation experiment,which is a performance improvement of 60.0%in the case of sudden load addition,and a performance improvement of 90.0%in the case of load release,which verifies that the designed controller outperforms the traditional NFTSMC.
基金funded by the King Salman Center for Disability Research,through Research Group No.KSRG-2024-468.
文摘Accurate trajectory tracking in lower-limb exoskeletons is challenged by the nonlinear,time-varying dynamics of human-robot interaction,limited sensor availability,and unknown external disturbances.This study proposes a novel control strategy that combines flatness-based control with two cascaded observers:a high-gain observer to estimate unmeasured joint velocities,and a nonlinear disturbance observer to reconstruct external torque disturbances in real time.These estimates are integrated into the control law to enable robust,state-feedback-based trajectory tracking.The approach is validated through simulation scenarios involving partial state measurements and abrupt external torque perturbations,reflecting realistic rehabilitation conditions.Results confirm that the proposed method significantly enhances tracking accuracy and disturbance rejection capability,demonstrating its strong potential for reliable and adaptive rehabilitation assistance.
基金funded by the King Salman Center For Disability Research,through Research Group No.KSRG-2024-468。
文摘Disability is defined as a condition that makes it difficult for a person to perform certain vital activities.In recent years,the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent.However,controlling an exoskeleton for rehabilitation presents challenges due to their nonlinear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton.To remedy these problems,this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons,addressing the challenges of nonlinear dynamics and external disturbances.The proposed controller integrated a Radial Basis Function Neural Network(RBFNN)with a disturbance observer and employed a high-dimensional integral Lyapunov function to guarantee system stability and trajectory tracking performance.In the control system,the role of the RBFNN was to estimate uncertain signals in the dynamic model,while the disturbance observer tackled external disturbances during trajectory tracking.Artificially created scenarios for Human-Robot interactive experiments and periodically repeated reference trajectory experiments validated the controller’s performance,demonstrating efficient tracking.The proposed controller is found to achieve superior tracking accuracy with Root-Mean-Squared(RMS)errors of 0.022-0.026 rad for all joints,outperforming conventional Proportional-Integral-Derivative(PID)by 73%and Neural-Fuzzy Adaptive Control(NFAC)by 389.47%lower error.These results suggested that the RBFNN adaptive controller,coupled with disturbance compensation,could serve as an effective rehabilitation tool for upper-limb exoskeletons.These results demonstrate the superiority of the proposed method in enhancing rehabilitation accuracy and robustness,offering a promising solution for the control of upper-limb assistive devices.Based on the obtained results and due to their high robustness,the proposed control schemes can be extended to other motor disabilities,including lower limb exoskeletons.
文摘For air-to-air missiles, the terminal guidance’s preci-sion is directly contingent upon the tracking capabilities of the roll-pitch seeker. This paper presents a combined non-singular fast terminal sliding mode control method, aimed at resolving the frame control problem of roll-pitch seeker tracking high maneu-vering target. The sliding mode surface is structured around the principle of segmentation, which enables the control system’s rapid attainment of the zero point and ensure global fast conver-gence. The system’s state is more swiftly converged to the slid-ing mode surface through an improved adaptive fast dual power reaching law. Utilizing an extended state observer, the overall disturbance is both identified and compensated. The validation of the system’s stability and its convergence within a finite-time is grounded in Lyapunov’s stability criteria. The performance of the introduced control method is confirmed through roll-pitch seeker tracking control simulation. Data analysis reveals that newly proposed control technique significantly outperforms existing sliding mode control methods by rapidly converging the frame to the target angle, reduce the tracking error of the detec-tor for the target, and bolster tracking precision of the roll-pitch seeker huring disturbed conditions.
文摘This study offers an empirical comparison of the Linear Quadratic Regulator(LQR)and Fractional Order LQR(FOLQR)controllers that were implemented on a two-degrees-offreedom(2-DOF)Quanser Aero 2 helicopter platform.It employs both full and reduced-order observer designs to facilitate trajectory monitoring and stabilisation.The Aero 2 platform is dynamically modelled using Euler-Lagrange equations to develop a multi-input multi-output(MIMO)system.This system comprises two inputs and four state equations.In collaboration with observers,the LQR and FOLQR controllers approximate states that are not directly measurable by utilising the system model and available data.This procedure effectively overcomes the practical limitations of sensors.The enhanced performance of FOLQR in terms of tracking precision and stability has been depicted from the experimental results,showing real-time execution on the Aero 2 platform.This paper provides rigorous insights into control engineering and advanced observer-based control design for underactuated systems.
基金Supported by National Key R&D Program of China(Grant No.2018YFB0105102)Anhui Provincial Natural Science Foundation(Grant No.2208085QE153).
文摘Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and attain any orientation simultaneously due to their mecanum wheels makes it convenient to transport vehicles in a parking lot.In this study,a nonlinear disturbance observer-based sliding mode controller for the trajectory tracking problem of a P-AGV is proposed.The kinematic and dynamic models for a P-AGV tracking trajectory are first analyzed in sequence and the influences of disturbing forces considered.Subsequently,a nonlinear disturbance observer(NDO)is designed to estimate the disturbing forces and torques generated by the caster wheels.Based on the designed NDO,a robust nonsingular terminal sliding-mode(NTSM)controller is used to track reference trajectories.The stabilities of the NDO and NDO-NTSM control systems are theoretically verified using their Lyapunov functions.Finally,simulations and experiments are performed to verify the effectiveness of the proposed control scheme.The experimental results show that the proposed NDO-NTSM controller can improve the trajectory tracking stability by 42-68%compared to a traditional NTSM controller.The NDO-based sliding mode controller for trajectory tracking proposed in this study can effectively reduce the impact of disturbances on trajectory tracking accuracy.
基金supported partially by the National Natural Science Foundation(No.62473344)the T-Flight Laboratory in ShanXi Provincial(No.GSFC2024NBKY05)+1 种基金the Natural Science Basic Research Program of Shaanxi(No.2025JC-YBQN-035)the National Natural Science Foundation of China(Grant No.92471204).
文摘With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.
基金supported by the National Natural Science Foundation of China(61803015).
文摘In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.
文摘This study investigates the stabilization challenge at the boundaries of a type II thermoelastic network with n-star configuration and terminal masses,which experiences non-uniform bounded external disturbances at its control boundary.This research employs an advanced active disturbance rejection control framework,incorporating an innovative observer with adaptive gain characteristics for precise disturbance estimation,coupled with a robust feedback control mechanism for disturbance compensation.The theoretical analysis establishes rigorous convergence proofs for the proposed time-dependent extended state observer.Furthermore,this investigation utilizes semigroup theory to validate the closed-loop system’s well-posed.Through comprehensive Lyapunov-based analysis,this study confirms the system’s capability to achieve exponential convergence of tracking errors while effectively mitigating disturbance effects.Extensive numerical experiments corroborate the theoretical findings,demonstrating the control scheme’s practical efficacy.
基金supported by the National Natural Science Foundation of China(Grant No.61773142).
文摘Intercepting high-maneuverability hypersonic targets in near-space environments poses significant challenges due to their extreme speeds and evasive capabilities.To address these challenges,this study presents an integrated approach that combines a Three-Dimensional Finite-Time Optimal Cooperative Guidance Law(FTOC)with an Information Fusion Anti-saturation Predefined-time Observer(IFAPO).The proposed FTOC guidance law employs a nonlinear,non-quadratic finite-time optimal control strategy designed for rapid convergence within the limited timeframes of near-space interceptions,avoiding the need for remaining flight time estimation or linear decoupling inherent in traditional methods.To complement the guidance strategy,the IFAPO leverages multi-source information fusion theory and incorporates anti-saturation mechanisms to enhance target maneuver estimation.This method ensures accurate and real-time prediction of target acceleration while maintaining predefined convergence performance,even under complex interception conditions.By integrating the FTOC guidance law and IFAPO,the approach optimizes cooperative missile positioning,improves interception success rates,and minimizes fuel consumption,addressing practical constraints in military applications.Simulation results and comparative analyses confirm the effectiveness of the integrated approach,demonstrating its capability to achieve cooperative interception of highly maneuvering targets with enhanced efficiency and reduced economic costs,aligning with realistic combat scenarios.
基金State Key Laboratory of Intelligent Green Vehicle and Mobility,Grant/Award Number:KFY2417Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project,Grant/Award Number:2022ZD0116305+7 种基金State Key Laboratory of Intelligent Vehicle Safety Technology,Grant/Award Number:IVSTSKL-202402Anhui Province Natural Science Funds for Distinguished Young Scholar,Grant/Award Number:2308085J02National Natural Science Foundation of China,Grant/Award Numbers:U2013601,U20A20225Wuhu Major Scientific and Technological Achievements Engineering Project,Grant/Award Number:2021zc04CAAI-Huawei Mind Spore Open Fund,Grant/Award Number:CAAIXSJLJJ-2022-011ANatural Science Foundation of Hefei,China,Grant/Award Number:202321State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Grant/Award Number:32215010Wuhu Municipal Science and Technology Program,Grant/Award Number:2021hg17。
文摘Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.
基金funded by the European Union’s Horizon 2020 Research and Innovation Program under the Marie Sklodowska-Curie Grant Agreement(Grant No.101026104)by the National Natural Science Foundation of China(Grant No.U20A6004)in part by the State Key Laboratory of Precision Electronics Manufacturing Technology and Equipment(Grant No.JMDZ202314).
文摘In semiconductor precision packaging and other applications involving alignment of automated equipment,the nonlinear motion caused by structural characteristics and friction effects on torque-type rotating motion stages seriously affects output accuracy and stability.To solve this problem,the motion characteristics of a rotating stage and the mechanism by which friction nonlinearity influences accuracy are analyzed in detail.In addition,a compound control strategy based on a kinematic model and the Stribeck friction model is designed.A friction disturbance observer based on output position feedback is improved for simple parameter tuning.Finally,an experimental system is constructed to carry out validation tests,including identification of nonlinear characteristics and performance comparisons.The experimental results show that the linear tracking error of the torque-type rotating stage is less than 1.47µm after adoption of the proposed model-based composite control strategy,and the corresponding rotary angle deviation is less than 0.0153°.The linearity of output motion is increased to 97.59%and the error compensation effect is improved by 51.6%compared with the PID control method.The experimental results confirm that the analysis method adopted here and the proposed compensation strategy can effectively reduce frictional nonlinearity and improve motion accuracy.The proposed method can also be applied to other precision electromechanical systems.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62473135 and 62173121)。
文摘This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.
基金supported by the National Natural Science Foundation of China(No.12472045)the Shanghai Aerospace Science and Technology Innovation Fund(No.SAST2022-036)。
文摘To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance controller based on multi⁃observers for flexible spacecraft is proposed.First,to prevent unwinding phenomenon in attitude description,the rotation matrix is used to represent the spacecraft’s attitude.Second,the flexible modes observer which can guarantee predefined⁃time convergence is designed,for the case where flexible vibrations are unmeasurable in practice.What’s more,the disturbance observer is applied to estimate and compensate the lumped disturbances to improve the robustness of attitude control.A predefined-time controller is proposed to satisfy the prescribed performance and stabilize the attitude tracking system via barrier Lyapunov function.Finally,through comparative numerical simulations,the proposed controller can achieve high-precision convergence compared with the existing finite-time attitude tracking controller.This paper provides certain references for the high-precision predefined-time prescribed performance attitude tracking of flexible spacecraft with multi-disturbance.
