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
Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature ...Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature conditions.Therefore,a path tracking robust control strategy based on force-driven H_(∞)and MPC is proposed.To fully exploit the nonlinear dynamics characteristics of tires,a force-driven state space model of a path tracking system based on a linear time-varying tire model is established;the H_(∞)and MPC methods are used to design a robust controller.Considering disturbance and system state constraints,the robust control constraint model based on LMI is established.Finally,the proposed controller is validated through joint simulations using CarSim and MATLAB.The results show that the maximum lateral deviation is reduced by 17.07%,and the maximum course angle deviation is reduced by 13.04%under large curvature disturbance conditions.The maximum lateral deviation is reduced by 27.85%,and the maximum course angle deviation is reduced by 31.17%under conditions of uncertain road adhesion coefficients.Based on the controller’s performance,the proposed controller effectively mitigates modeling errors,parameter uncertainties,and curvature disturbances.展开更多
This study investigates the Maximum Power Point Tracking(MPPT)control method of offshore windphotovoltaic hybrid power generation system with offshore crane-assisted.A new algorithm of Global Fast Integral Sliding Mod...This study investigates the Maximum Power Point Tracking(MPPT)control method of offshore windphotovoltaic hybrid power generation system with offshore crane-assisted.A new algorithm of Global Fast Integral Sliding Mode Control(GFISMC)is proposed based on the tip speed ratio method and sliding mode control.The algorithm uses fast integral sliding mode surface and fuzzy fast switching control items to ensure that the offshore wind power generation system can track the maximum power point quickly and with low jitter.An offshore wind power generation system model is presented to verify the algorithm effect.An offshore off-grid wind-solar hybrid power generation systemis built in MATLAB/Simulink.Compared with other MPPT algorithms,this study has specific quantitative improvements in terms of convergence speed,tracking accuracy or computational efficiency.Finally,the improved algorithm is further analyzed and carried out by using Yuankuan Energy’s ModelingTech semi-physical simulation platform.The results verify the feasibility and effectiveness of the improved algorithm in the offshore wind-solar hybrid power generation system.展开更多
Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory ...Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory tracking control of the manipulator.This paper proposes the radial basis function neural network adaptive hierarchical sliding mode control(RBFNNA-HSMC)method,which combines the dynamic model of the elastic tendon-driven manipulator(ETDM)with radial basis neural network adaptive control and hierarchical sliding mode control technology.The aim is to achieve trajectory tracking control of ETDM even under conditions of model inaccuracy and disturbance.The Lyapunov stability theory demonstrates the stability of the proposed RBFNNA-HSM controller.In order to assess the effectiveness and adaptability of the proposed control method,simulations and experiments were performed on a two-DOF ETDM.The RBFNNA-HSM method shows superior tracking accuracy compared to traditional modelbased HSM control.The experiment shows that the maximum tracking error for ETDM double-joint trajectory tracking is below 2.593×10-3rad and 1.624×10-3rad,respectively.展开更多
A hybrid control strategy integrating proportional derivative(PD)and the H-infinity control methodology is proposed for a serial two-link robotic manipulator with the goal of improving the tracking performance of the ...A hybrid control strategy integrating proportional derivative(PD)and the H-infinity control methodology is proposed for a serial two-link robotic manipulator with the goal of improving the tracking performance of the robot arm.The H-infinity controller has the ability to achieve a high performance and robustness in the presence of disturbances and uncertainties,while the PD controller is effective in stabilizing the manipulator.Simulation results using Matlab and Simulink show that the proposed hybrid controller,which integrates the advantages of both PD and H-infinity controllers,has the lowest rise time for the second link,the lowest settling time for the two links,the lowest peak time for both links,and the fastest decay of the error response.In addition,the hybrid control scheme also has the lowest mean square error value,with a 53.3%improvement over the H-infinity controller and a 91.8%improvement over the PD controller,indicating an improved trajectory tracking performance when compared with pure PD and pure H-infinity controllers,respectively.It was also found that the hybrid controller has the lowest integral absolute error,integral square error,integral time absolute error,and integral time square error for the second link,while the error values for the first link are satisfactory,showing a superior performance of the hybrid controller above the PD and H-infinity controllers,respectively.展开更多
This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working...This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.展开更多
The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilit...The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilities of ATP systems.However,in practical applications,ATP systems face various design constraints and functional limitations,making it infeasible to indefinitely improve hardware performance to meet tracking requirements.As a result,tracking algorithms are required to execute increasingly complex tasks.This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems,which lead to tracking jitter,poor tracking performance,low precision,and target loss.At the same time,the pro-posed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays.The method suggested is also characterized by its low order,fast response,and robustness to model parameter variations.In this study,an actual ATP system is built for target tracking test,and the proposed algorithm is fully validated in terms of simulation and actual system application verification.Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates.For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s^(2),the system improved tracking accuracy by 70.0%-89.9%at a sampling frequency of 50 Hz and a delay of 30 m s.Moreover,the compensation algorithm demonstrated consistent performance across actuators with varying characteristics,further confirming its robustness to model insensitivity.In summary,the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable targets,reducing the probability of target loss from high speed.This approach offers a practical solution for future multi-target tracking across diverse operational scenarios.展开更多
The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may ...The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may cause the loss of strong controllability of the WMR,such that the conventional fault-tolerant control strategies unworkable.In this paper,a new mixed-gain adaption scheme is devised,which is adopted to adapt the gain of a decoupling prescribed performance controller to adaptively compensate for the loss of the effectiveness of the actuators.Different from the existing gain adaption technique which depends on both the barrier functions and their partial derivatives,ours involves only the barrier functions.This yields a lower magnitude of the resulting control signals.Our controller accomplishes trajectory tracking of the WMR with the prescribed rate and accuracy even in the faulty case,and the control design relies on neither the information of the WMR dynamics and the actuator faults nor the tools for function approximation,parameter identification,and fault detection or estimation.The comparative simulation results justify the theoretical findings.展开更多
This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bound...This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.展开更多
In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung...In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung-mass subsystem(regarding ride comfort)and an unsprung-mass subsystem(regarding road holding),which correspond to two prescribed performance tracking problems.Subsequently,an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one.To reduce chattering and stabilize the subsystems,a prescribed-time extended disturbance observer(PT-EDO)is designed,achieving the time-varying switching gain RDSMC(TVSG-RDSMC).Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering.展开更多
To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking contro...To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking controller,whose parameters are set using an Ant Colony OptimizationSlime Mould Algorithm(ACO-SMA).Initially,a nonlinear flight dynamics model of the helicopter is constructed.Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller,addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control(ADRC).Simultaneously,a cascaded loop system,comprising an internal attitude loop and an external position loop,is created,and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller.Finally,helicopter trajectory tracking simulation experiments are conducted,including spiral ascending and“8”shape climbing maneuvers.The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories.The trajectory tracking controller,whose parameters are optimized by the ACO-SMA,shows higher tracking precision compared to the conventional PID and ADRC,thereby substantially improving the precision of maneuver tasks.展开更多
In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator faults.First, a novel augmented plant is co...In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator faults.First, a novel augmented plant is constructed by fusing the system state and the reference trajectory, which aims to transform the optimal fault-tolerant tracking control design with actuator faults into the optimal regulation problem of the conventional nonlinear error system. Subsequently, in order to ensure the normal execution of the online learning algorithm, a stability criterion condition is created to obtain an initial admissible tracking policy. Then, the constructed model neural network(NN) is pretrained to recognize the system dynamics and calculate trajectory control. The critic and action NNs are constructed to output the approximate cost function and approximate tracking control,respectively. The Hamilton-Jacobi-Bellman equation of the error system is solved online through the action-critic framework. In theoretical analysis, it is proved that all concerned signals are uniformly ultimately bounded according to the Lyapunov principle.The tracking control law can approach the optimal tracking control within a finite approximation error. Finally, two experimental examples are conducted to indicate the effectiveness and superiority of the developed fault-tolerant tracking control scheme.展开更多
Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This artic...Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.展开更多
In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error a...In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carded out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads.展开更多
A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precisio...A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.展开更多
Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the v...Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive control approach with the deadzone and self adjusting feedforward compensation was proposed. Results Experimental results showed that the good tracking performance was achieved for the sinusoidal and constant velocity position tracking under a wide variations of load torque. Conclusion The position tracking accuracy for valve controlled motor electrohydraulic proportional servo systems has been solved by using the comprehensive control approach with the deadzone and self adjusting feedforward compensation.展开更多
In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonli...In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonlinear systems, direct adaptive control schemes are presented to achieve bounded tracking. The proposed control schemes are robust with respect to the uncertainties in interconnection structure as well as subsystem dynamics. A numerical example is given to illustrate the efficiency of this method.展开更多
This paper describes a new tracking and measuring control system for optical and electronic theodolite.This control system can provide automatic flying object tracking and measuring in visible and infrared band.It als...This paper describes a new tracking and measuring control system for optical and electronic theodolite.This control system can provide automatic flying object tracking and measuring in visible and infrared band.It also can provide real-time output of the measured results.By using the multi-mode measuring methods and the on-axis tracking control technique, the stability of automatic tracking,tracking accuracy and the comprehensive tracking performance of the theodolite can be improved.At the same time the smooth switch-over among several tracking modes can be carried out.New tracking techniques have been developed to deal with angular tracking rate that exceed 60 deg/s in velocity and 90 deg/s 2 in acceleration.At the present the tracking and measuring control system has been successfully applied in the optical and electronic theodolite.展开更多
Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms ...Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms delay, and the predicting algorithm was improved by the adaptive discount method.Results The tracking errors of the two methods were compared, and an optimal controller with the improved adaptive discount predicting algorithm was adopted for simulation. Conclusion The predicting algorithms, especially the adaptive discount predicting algorithm, can decrease the tracking error greatly, and the desired tracking prediction can be achieved both in the transient state and in the steady state.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 Qinghai University Youth Research Fund,China(Grant No.2023-QGY-15)。
文摘Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature conditions.Therefore,a path tracking robust control strategy based on force-driven H_(∞)and MPC is proposed.To fully exploit the nonlinear dynamics characteristics of tires,a force-driven state space model of a path tracking system based on a linear time-varying tire model is established;the H_(∞)and MPC methods are used to design a robust controller.Considering disturbance and system state constraints,the robust control constraint model based on LMI is established.Finally,the proposed controller is validated through joint simulations using CarSim and MATLAB.The results show that the maximum lateral deviation is reduced by 17.07%,and the maximum course angle deviation is reduced by 13.04%under large curvature disturbance conditions.The maximum lateral deviation is reduced by 27.85%,and the maximum course angle deviation is reduced by 31.17%under conditions of uncertain road adhesion coefficients.Based on the controller’s performance,the proposed controller effectively mitigates modeling errors,parameter uncertainties,and curvature disturbances.
基金supported by the 2022 Sanya Science and Technology Innovation Project,China(No.2022KJCX03)the Sanya Science and Education Innovation Park,Wuhan University of Technology,China(Grant No.2022KF0028)the Hainan Provincial Joint Project of Sanya Yazhou Bay Science and Technology City,China(Grant No.2021JJLH0036).
文摘This study investigates the Maximum Power Point Tracking(MPPT)control method of offshore windphotovoltaic hybrid power generation system with offshore crane-assisted.A new algorithm of Global Fast Integral Sliding Mode Control(GFISMC)is proposed based on the tip speed ratio method and sliding mode control.The algorithm uses fast integral sliding mode surface and fuzzy fast switching control items to ensure that the offshore wind power generation system can track the maximum power point quickly and with low jitter.An offshore wind power generation system model is presented to verify the algorithm effect.An offshore off-grid wind-solar hybrid power generation systemis built in MATLAB/Simulink.Compared with other MPPT algorithms,this study has specific quantitative improvements in terms of convergence speed,tracking accuracy or computational efficiency.Finally,the improved algorithm is further analyzed and carried out by using Yuankuan Energy’s ModelingTech semi-physical simulation platform.The results verify the feasibility and effectiveness of the improved algorithm in the offshore wind-solar hybrid power generation system.
基金Supported by Key R&D Project of Zhejiang(Grant No.2022C02052)。
文摘Tracking control of tendon-driven manipulators has become a prevalent research area.However,the existence of flexible elastic tendons generates substantial residual vibrations,resulting in difficulties for trajectory tracking control of the manipulator.This paper proposes the radial basis function neural network adaptive hierarchical sliding mode control(RBFNNA-HSMC)method,which combines the dynamic model of the elastic tendon-driven manipulator(ETDM)with radial basis neural network adaptive control and hierarchical sliding mode control technology.The aim is to achieve trajectory tracking control of ETDM even under conditions of model inaccuracy and disturbance.The Lyapunov stability theory demonstrates the stability of the proposed RBFNNA-HSM controller.In order to assess the effectiveness and adaptability of the proposed control method,simulations and experiments were performed on a two-DOF ETDM.The RBFNNA-HSM method shows superior tracking accuracy compared to traditional modelbased HSM control.The experiment shows that the maximum tracking error for ETDM double-joint trajectory tracking is below 2.593×10-3rad and 1.624×10-3rad,respectively.
文摘A hybrid control strategy integrating proportional derivative(PD)and the H-infinity control methodology is proposed for a serial two-link robotic manipulator with the goal of improving the tracking performance of the robot arm.The H-infinity controller has the ability to achieve a high performance and robustness in the presence of disturbances and uncertainties,while the PD controller is effective in stabilizing the manipulator.Simulation results using Matlab and Simulink show that the proposed hybrid controller,which integrates the advantages of both PD and H-infinity controllers,has the lowest rise time for the second link,the lowest settling time for the two links,the lowest peak time for both links,and the fastest decay of the error response.In addition,the hybrid control scheme also has the lowest mean square error value,with a 53.3%improvement over the H-infinity controller and a 91.8%improvement over the PD controller,indicating an improved trajectory tracking performance when compared with pure PD and pure H-infinity controllers,respectively.It was also found that the hybrid controller has the lowest integral absolute error,integral square error,integral time absolute error,and integral time square error for the second link,while the error values for the first link are satisfactory,showing a superior performance of the hybrid controller above the PD and H-infinity controllers,respectively.
基金supported by Liaoning Provincial Department of Education 2023 Basic Research Projects for Universities and Colleges(Grant No.JYTQN2023131)Liaoning Provincial Science and Technology Program:Cooperative Control and Recognition of Unmanned Vessels for Fishing Vessel Operation Scenarios(Grant No.600024003)Liaoning Provincial Department of Education Scientific Research Funding Project(Grant No.LJKZ0726).
文摘This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.
基金supported by the National Natural Science Foun-dation of China(Grant No.52275099).
文摘The acquisition,tracking,and pointing(ATP)system is widely used in target tracking,counter-UAV operations,and other related fields.As UAV technology develops,there is a growing demand to enhance the tracking capabilities of ATP systems.However,in practical applications,ATP systems face various design constraints and functional limitations,making it infeasible to indefinitely improve hardware performance to meet tracking requirements.As a result,tracking algorithms are required to execute increasingly complex tasks.This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems,which lead to tracking jitter,poor tracking performance,low precision,and target loss.At the same time,the pro-posed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays.The method suggested is also characterized by its low order,fast response,and robustness to model parameter variations.In this study,an actual ATP system is built for target tracking test,and the proposed algorithm is fully validated in terms of simulation and actual system application verification.Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates.For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s^(2),the system improved tracking accuracy by 70.0%-89.9%at a sampling frequency of 50 Hz and a delay of 30 m s.Moreover,the compensation algorithm demonstrated consistent performance across actuators with varying characteristics,further confirming its robustness to model insensitivity.In summary,the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable targets,reducing the probability of target loss from high speed.This approach offers a practical solution for future multi-target tracking across diverse operational scenarios.
基金supported in part by the National Natural Science Foundation of China under Grants 61991404,62103093 and 62473089the Research Program of the Liaoning Liaohe Laboratory,China under Grant LLL23ZZ-05-01+5 种基金the Key Research and Development Program of Liaoning Province of China under Grant 2023JH26/10200011the 111 Project 2.0 of China under Grant B08015,the National Key Research and Development Program of China under Grant 2022YFB3305905the Xingliao Talent Program of Liaoning Province of China under Grant XLYC2203130the Natural Science Foundation of Liaoning Province of China under Grants 2024JH3/10200012 and 2023-MS-087the Open Research Project of the State Key Laboratory of Industrial Control Technology of China under Grant ICT2024B12the Fundamental Research Funds for the Central Universities of China under Grants N2108003 and N2424004.
文摘The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may cause the loss of strong controllability of the WMR,such that the conventional fault-tolerant control strategies unworkable.In this paper,a new mixed-gain adaption scheme is devised,which is adopted to adapt the gain of a decoupling prescribed performance controller to adaptively compensate for the loss of the effectiveness of the actuators.Different from the existing gain adaption technique which depends on both the barrier functions and their partial derivatives,ours involves only the barrier functions.This yields a lower magnitude of the resulting control signals.Our controller accomplishes trajectory tracking of the WMR with the prescribed rate and accuracy even in the faulty case,and the control design relies on neither the information of the WMR dynamics and the actuator faults nor the tools for function approximation,parameter identification,and fault detection or estimation.The comparative simulation results justify the theoretical findings.
基金supported by the National Natural Science Foundation of China(Nos.51775021,52302511)the Fundamental Research Funds for the Central Universities,China(Nos.501JCGG2024129003,501JCGG2024129005,501JCGG2024129006),the Fundamental Research Funds for the Central Universities,China(No.YWF-24-JC-09)the National Key Research and Development Program of China(No.2018YFC1506401)。
文摘This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.
基金supported by the National Natural Science Foundation of China(No.62173125).
文摘In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung-mass subsystem(regarding ride comfort)and an unsprung-mass subsystem(regarding road holding),which correspond to two prescribed performance tracking problems.Subsequently,an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one.To reduce chattering and stabilize the subsystems,a prescribed-time extended disturbance observer(PT-EDO)is designed,achieving the time-varying switching gain RDSMC(TVSG-RDSMC).Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering.
基金support of the National Natural Science Foundation of China(No.12032012)the Priority Academic Program Development of Jiangsu Higher Education Institutions,China。
文摘To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking controller,whose parameters are set using an Ant Colony OptimizationSlime Mould Algorithm(ACO-SMA).Initially,a nonlinear flight dynamics model of the helicopter is constructed.Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller,addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control(ADRC).Simultaneously,a cascaded loop system,comprising an internal attitude loop and an external position loop,is created,and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller.Finally,helicopter trajectory tracking simulation experiments are conducted,including spiral ascending and“8”shape climbing maneuvers.The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories.The trajectory tracking controller,whose parameters are optimized by the ACO-SMA,shows higher tracking precision compared to the conventional PID and ADRC,thereby substantially improving the precision of maneuver tasks.
基金supported in part by the National Natural Science Foundation of China(62222301,62373012,62473012,62021003)the National Science and Technology Major Project(2021ZD0112302,2021ZD0112301)the Beijing Natural Science Foundation(JQ19013)
文摘In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator faults.First, a novel augmented plant is constructed by fusing the system state and the reference trajectory, which aims to transform the optimal fault-tolerant tracking control design with actuator faults into the optimal regulation problem of the conventional nonlinear error system. Subsequently, in order to ensure the normal execution of the online learning algorithm, a stability criterion condition is created to obtain an initial admissible tracking policy. Then, the constructed model neural network(NN) is pretrained to recognize the system dynamics and calculate trajectory control. The critic and action NNs are constructed to output the approximate cost function and approximate tracking control,respectively. The Hamilton-Jacobi-Bellman equation of the error system is solved online through the action-critic framework. In theoretical analysis, it is proved that all concerned signals are uniformly ultimately bounded according to the Lyapunov principle.The tracking control law can approach the optimal tracking control within a finite approximation error. Finally, two experimental examples are conducted to indicate the effectiveness and superiority of the developed fault-tolerant tracking control scheme.
基金National Natural Science Foundation of China (50705003)National High Technology Research and Development Program of China (2007AA04Z252).
文摘Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.
基金The National Natural Science Foundation of China(No.61273119,61374038,61473079)
文摘In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carded out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads.
文摘A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.
文摘Aim Aiming at the position tracking control for valve controlled motor electrohydraulic proportional servo systems mainly driving the static load torque, the tracking performance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive control approach with the deadzone and self adjusting feedforward compensation was proposed. Results Experimental results showed that the good tracking performance was achieved for the sinusoidal and constant velocity position tracking under a wide variations of load torque. Conclusion The position tracking accuracy for valve controlled motor electrohydraulic proportional servo systems has been solved by using the comprehensive control approach with the deadzone and self adjusting feedforward compensation.
文摘In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonlinear systems, direct adaptive control schemes are presented to achieve bounded tracking. The proposed control schemes are robust with respect to the uncertainties in interconnection structure as well as subsystem dynamics. A numerical example is given to illustrate the efficiency of this method.
文摘This paper describes a new tracking and measuring control system for optical and electronic theodolite.This control system can provide automatic flying object tracking and measuring in visible and infrared band.It also can provide real-time output of the measured results.By using the multi-mode measuring methods and the on-axis tracking control technique, the stability of automatic tracking,tracking accuracy and the comprehensive tracking performance of the theodolite can be improved.At the same time the smooth switch-over among several tracking modes can be carried out.New tracking techniques have been developed to deal with angular tracking rate that exceed 60 deg/s in velocity and 90 deg/s 2 in acceleration.At the present the tracking and measuring control system has been successfully applied in the optical and electronic theodolite.
文摘Aim To solve the time delay problem in the optoelectronic tracking system, improving the tracking accuracy. Methods The discount least square algorithm was applied to forecast the tracking error caused by the 40?ms delay, and the predicting algorithm was improved by the adaptive discount method.Results The tracking errors of the two methods were compared, and an optimal controller with the improved adaptive discount predicting algorithm was adopted for simulation. Conclusion The predicting algorithms, especially the adaptive discount predicting algorithm, can decrease the tracking error greatly, and the desired tracking prediction can be achieved both in the transient state and in the steady state.
