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
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
In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on t...In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.展开更多
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-mini...This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.展开更多
This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of un...This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.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
在热工系统中,具有右半平面零点的非最小相位系统广泛存在,其负向调节与输出跟踪速度之间的矛盾,使其在实际工程中的控制难度增大。为此,提出了一种适用于非最小相位系统的改进线性自抗扰控制(improved linear active disturbance rejec...在热工系统中,具有右半平面零点的非最小相位系统广泛存在,其负向调节与输出跟踪速度之间的矛盾,使其在实际工程中的控制难度增大。为此,提出了一种适用于非最小相位系统的改进线性自抗扰控制(improved linear active disturbance rejection control,ILADRC):首先,采用拆分拟合法,将非最小相位系统标称模型近似分解为最小相位和非最小相位两部分;然后,再设计前馈补偿器将前馈信号串联最小相位时滞部分,在反馈信号中加入非最小相位史密斯预估补偿器,实现非最小相位补偿,同时解决线性扩张状态观测器双侧信号不同步问题;再次,提出适用于ILADRC的定量化参数整定规则,简化参数调节;最后,以汽轮机进汽阀调节主蒸汽压力为控制对象,与比例积分微分(proportional integral derivative,PID)控制、线性自抗扰控制(linear active disturbance rejection control,LADRC)进行仿真对比。结果表明:在定值跟踪试验中,ILADRC相比于PID和LADRC的时间乘误差绝对值积分(integral time absolute error,ITAE)指标分别减少了35.46%和5.99%;在定值干扰试验中,ILADRC相比于PID和LADRC的ITAE指标分别减少了92.52%和43.95%,证明了ILADRC具有时域性能优势。在蒙特卡洛随机试验中,ILADRC的误差绝对值积分(integral absolute error,IAE)指标和系统负向调节幅值均优于PID和LADRE,证明了ILADRC的鲁棒性能优势。此外,ILADRC可利用DCS现有模块搭建,具有良好的工程应用价值。展开更多
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.
基金supported in part by the Science Center Program of National Natural Science Foundation of China(62373189,62188101,62020106003)the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures,China。
文摘In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.
基金This work was supported by Research Grants Council of Hong Kong(CityU-11205221).
文摘This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.
基金Research Grants Council of Hong Kong under Grant CityU-11205221.
文摘This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.
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.
文摘在热工系统中,具有右半平面零点的非最小相位系统广泛存在,其负向调节与输出跟踪速度之间的矛盾,使其在实际工程中的控制难度增大。为此,提出了一种适用于非最小相位系统的改进线性自抗扰控制(improved linear active disturbance rejection control,ILADRC):首先,采用拆分拟合法,将非最小相位系统标称模型近似分解为最小相位和非最小相位两部分;然后,再设计前馈补偿器将前馈信号串联最小相位时滞部分,在反馈信号中加入非最小相位史密斯预估补偿器,实现非最小相位补偿,同时解决线性扩张状态观测器双侧信号不同步问题;再次,提出适用于ILADRC的定量化参数整定规则,简化参数调节;最后,以汽轮机进汽阀调节主蒸汽压力为控制对象,与比例积分微分(proportional integral derivative,PID)控制、线性自抗扰控制(linear active disturbance rejection control,LADRC)进行仿真对比。结果表明:在定值跟踪试验中,ILADRC相比于PID和LADRC的时间乘误差绝对值积分(integral time absolute error,ITAE)指标分别减少了35.46%和5.99%;在定值干扰试验中,ILADRC相比于PID和LADRC的ITAE指标分别减少了92.52%和43.95%,证明了ILADRC具有时域性能优势。在蒙特卡洛随机试验中,ILADRC的误差绝对值积分(integral absolute error,IAE)指标和系统负向调节幅值均优于PID和LADRE,证明了ILADRC的鲁棒性能优势。此外,ILADRC可利用DCS现有模块搭建,具有良好的工程应用价值。
