This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain i...This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain in series with the plant output error and a linear filter in parallel with the overall error system.These structural changes do not influence the input/output dynamics of the original plant,but are intentionally introduced to modify the dynamics to be estimated by the extended state observer(ESO)and,thus,promote an increase in the robustness of the method.Some advantages can also be attributed to the proposed methodology,such as(i)the design procedures of both the controller and the ESO only require knowledge of the sign(±)of the plant input channel coefficient(or control gain);(ii)the plant control input is generated directly by a single ESO state variable.Despite the advantages and the characteristics of MP-ADRC mentioned earlier,closed-loop stability cannot be guaranteed when it is applied to dynamical systems that have finite zeros.To overcome this difficulty,this work introduces an extension in the MP-ADRC method.It basically consists of rewriting the minimum phase plant dynamics according to its relative order,and then follows with the design of the ESO by conveniently increasing the number of ESO state variables.The simulation results are also presented to illustrate the application of the proposed method.展开更多
In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let ...In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.展开更多
Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller ...Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the system-s ＂zeros＂, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.展开更多
For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the...For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the region where the system parameters jump and improve the transient response,while another two adaptive models are used to guarantee the stability.Utilizing generalized minimum variance design method,it adopts the stochastic system estimation algorithm with optimal controller design method to identify the controller parameter directly.Finally,the global convergence is given.The simulation proves the effectives of the controller proposed.展开更多
An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accurac...An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accuracy,the improved algorithm uses the optimal iterativemethod to seek the nonlinear least-square solution.Finally,the simulation examples are alsogiven.展开更多
This paper investigates the performance of the latest International Reference Ionosphere model to predict the critical frequency at low latitudes in the African region. The variability of the critical frequency of the...This paper investigates the performance of the latest International Reference Ionosphere model to predict the critical frequency at low latitudes in the African region. The variability of the critical frequency of the F2 layer of the ionosphere (foF2) is studied for the different seasons of the phase minimum of solar cycle 22 during quiet geomagnetic activity at the Ouagadougou station. The data used are those provided by the ionosonde and the predictions of the two subprograms: International Radio Consultative Committee (CCIR) and International Radio-Scientific Union (URSI) of the 2016 version of the International Reference Ionosphere model. This study shows that, in general, URSI and CCIR of the IRI-2016 model are able to reproduce fairly well the variability of the critical frequency of the F2 layer of the ionosphere at low latitudes during the phase minimum at the Ouagadougou station. However, the model shows an almost homogeneous overestimation of the foF2 during the four seasons studied. The good response is observed between 0700 TL and 1900 TL for the available data. The agreement between the subroutine responses and the observed results is between reasonable and poor. The best match state response is obtained in winter with the CCIR subroutine. These results show that there is a need to improve both CCIR and URSI subroutines of the IRI-2016 model in low latitudes in the African region.展开更多
The novel compensating method directly demodulates the signals without the carrier recovery processes, in which the carrier with original modulation frequency is used as the local coherent carrier. In this way, the ph...The novel compensating method directly demodulates the signals without the carrier recovery processes, in which the carrier with original modulation frequency is used as the local coherent carrier. In this way, the phase offsets due to frequency shift are linear. Based on this premise, the compensation processes are： firstly, the phase offsets between the baseband neighbor-symbols after clock recovery is unbiasedly estimated among the reference symbols; then, the receiving signals symbols are adjusted by the phase estimation value; finally, the phase offsets after adjusting are compensated by the least mean squares （LMS） algorithm. In order to express the compensation processes and ability clearly, the quadrature phase shift keying （QPSK） modulation signals are regarded as examples for Matlab simulation. BER simulations are carried out using the Monte-Carlo method. The learning curves are obtained to study the algorithm＇s convergence ability. The constellation figures are also simulated to observe the compensation results directly.展开更多
基金supported in part by the Brazilian research agencies CNPq and CAPESby the Fundação Carlos Chagas Filho de AmparoàPesquisa do Estado do Rio de Janeiro,FAPERJ-Brasil(Project E-26/210.425/2024).
文摘This paper proposes an extension of the Modified-Plant ADRC(MP-ADRC)strategy to broaden its application to minimum phase dynamical systems.The main features of the MP-ADRC method are the inclusion of a constant gain in series with the plant output error and a linear filter in parallel with the overall error system.These structural changes do not influence the input/output dynamics of the original plant,but are intentionally introduced to modify the dynamics to be estimated by the extended state observer(ESO)and,thus,promote an increase in the robustness of the method.Some advantages can also be attributed to the proposed methodology,such as(i)the design procedures of both the controller and the ESO only require knowledge of the sign(±)of the plant input channel coefficient(or control gain);(ii)the plant control input is generated directly by a single ESO state variable.Despite the advantages and the characteristics of MP-ADRC mentioned earlier,closed-loop stability cannot be guaranteed when it is applied to dynamical systems that have finite zeros.To overcome this difficulty,this work introduces an extension in the MP-ADRC method.It basically consists of rewriting the minimum phase plant dynamics according to its relative order,and then follows with the design of the ESO by conveniently increasing the number of ESO state variables.The simulation results are also presented to illustrate the application of the proposed method.
基金supported by National Natural Science Foundation of China(61403013)the Aero-Science Foundation of China(2015ZA51009)
文摘In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.
文摘Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the system-s ＂zeros＂, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.
基金the National Natural Science Foundation of China (Nos.60504010 and 60774015)the National High Technology Research and Development Program (863) of China (No.2008AA04Z129)+1 种基金the Disbursal Budget Program of Shanghai Municipal Education Commission of China (No.2008093) the Innovation Program of Shanghai Municipal Education Commission of China (No.09YZ241)
文摘For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the region where the system parameters jump and improve the transient response,while another two adaptive models are used to guarantee the stability.Utilizing generalized minimum variance design method,it adopts the stochastic system estimation algorithm with optimal controller design method to identify the controller parameter directly.Finally,the global convergence is given.The simulation proves the effectives of the controller proposed.
文摘An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accuracy,the improved algorithm uses the optimal iterativemethod to seek the nonlinear least-square solution.Finally,the simulation examples are alsogiven.
文摘This paper investigates the performance of the latest International Reference Ionosphere model to predict the critical frequency at low latitudes in the African region. The variability of the critical frequency of the F2 layer of the ionosphere (foF2) is studied for the different seasons of the phase minimum of solar cycle 22 during quiet geomagnetic activity at the Ouagadougou station. The data used are those provided by the ionosonde and the predictions of the two subprograms: International Radio Consultative Committee (CCIR) and International Radio-Scientific Union (URSI) of the 2016 version of the International Reference Ionosphere model. This study shows that, in general, URSI and CCIR of the IRI-2016 model are able to reproduce fairly well the variability of the critical frequency of the F2 layer of the ionosphere at low latitudes during the phase minimum at the Ouagadougou station. However, the model shows an almost homogeneous overestimation of the foF2 during the four seasons studied. The good response is observed between 0700 TL and 1900 TL for the available data. The agreement between the subroutine responses and the observed results is between reasonable and poor. The best match state response is obtained in winter with the CCIR subroutine. These results show that there is a need to improve both CCIR and URSI subroutines of the IRI-2016 model in low latitudes in the African region.
基金supported by the National Natural Science Foundation of China(60532030)
文摘The novel compensating method directly demodulates the signals without the carrier recovery processes, in which the carrier with original modulation frequency is used as the local coherent carrier. In this way, the phase offsets due to frequency shift are linear. Based on this premise, the compensation processes are： firstly, the phase offsets between the baseband neighbor-symbols after clock recovery is unbiasedly estimated among the reference symbols; then, the receiving signals symbols are adjusted by the phase estimation value; finally, the phase offsets after adjusting are compensated by the least mean squares （LMS） algorithm. In order to express the compensation processes and ability clearly, the quadrature phase shift keying （QPSK） modulation signals are regarded as examples for Matlab simulation. BER simulations are carried out using the Monte-Carlo method. The learning curves are obtained to study the algorithm＇s convergence ability. The constellation figures are also simulated to observe the compensation results directly.
