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Active Disturbance Rejection Tracking Control for a Nonlinear Pneumatic Muscle System
Hongjiu Yang,Yang Yu,Jing Qiu,Chang-chun Hua 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbancesin the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based onan extended state observer. Some experimental results are given to show the effectiveness of developed techniquesin this paper.
Leader-following Consensus of Heterogeneous Multi-agent Systems with Packet Dropout
Zhixin Liu,Hongjiu Yang,Xiu You,Ling Zhao 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5
This paper studies the leader-following consensus problem for heterogeneous multi-agent systems composed of linear second-order integrator agents and nonlinear Euler-Lagrange agents in two aspects. The consensus problem of heterogeneous multi-agent systems is discussed with unknown velocities, time-varying disturbances and packet dropout by introducing extended state observer. Sufficient conditions are established to ensure that all following agents could reach consensus with a virtual leader, which provide the allowable upper bound of packet drop rate. Numerical simulations are presented to illustrate the theoretical results.
Baolei Du,Hongjiu Su,Shudong Wang 한국공업화학회 2015 Journal of Industrial and Engineering Chemistry Vol.21 No.1
Carbon nanofiber (CNF) coated monoliths with a homogeneous and consistent layer were prepared bycatalytic decomposition of ethane on Ni particles, and the CNF coated monolith supports were oxidizedusing different agents to get different oxidation degrees. The as-prepared catalysts were characterized bySEM, TG, Raman spectra, FT-IR, TPD, TPR, CO pulsar and TEM, while the behavior of Pd supported on CNFcoated monoliths were tested by liquid phase of nitrobenzene hydrogenation in a continuous flowreactor. For comparison Pd/Al2O3/cordierite was also prepared. It was found that the reductiontemperature controlled Pd dispersion, which in turn was responsible for the catalytic activity. A goodlinear relationship between nitrobenzene conversion and Pd dispersion was observed. Furthermore, Pd/CNF/cordierite showed higher nitrobenzene conversion compared with Pd/Al2O3/cordierite, indicatingCNF was a superior support. The aniline selectivity was related to the amount of surface oxygen groups(SOCs) formed during the oxidation pre-treatment. SOCs, especially carboxylic acid groups, increased asthe degree of oxidation deepened, and more amounts of SOCs on CNF surface were responsible for thelower aniline selectivity.
Min Su,Hongjiu Su,Baolei Du,Xiaotong Li,Gaoyuan Ren,Shudong Wang 한국화학공학회 2015 Korean Journal of Chemical Engineering Vol.32 No.5
Silica nanoparticles with different sizes (ranging from 10 nm to 104 nm) and size distributions were synthesized by semi-batch and semi-batch/batch methods of the Stöber process. Then the amorphous silica with different surface areas (ranging from 30m2/g to 400m2/g) and pores (ranging from 3 nm to 33 nm) were obtained by various aging treatments and drying methods of the synthesized colloidal silica sol. The aging treatment resulted in the monodispersed pore distribution and decreased BET surface area of silica. The high-humidity drying method led to the mesoporous silica with uniform pores and decreased small pores. As the silica was obtained by the arrangement of silica nanoparticles, the pore diameter and pore distribution of mesoporous silica were directly related to the size and distribution of nanoparticles. Furthermore, this study offered a new thought for the synthesis of other mesoporous materials with uniform pore distributions.
Networked Control for Delta Operator Systems Subject to Actuator Saturation
Ling Zhao,Zhiwei Li,Hongjiu Yang,Zhixin Liu 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.6
In this paper, the problems of networked control for delta operator systems with actuator saturation are considered. Ellipsoids are used to estimate the domain of attraction for the networked control systems with actuator saturation. A condition for the networked control system is derived in terms of an auxiliary feedback matrix for determining if a given ellipsoid is contractive invariant. Discussions on the networked control systems performance optimization on expansion of the domain of attraction are presented. A numerical example on one-link PMW-controlled joint driven by pneumatic muscles is given to illustrate the effectiveness of the developed techniques.
Integral Sliding Mode Control of a Bilateral Teleoperation System based on Extended State Observers
Ling Zhao,Hao Zhang,Yana Yang,Hongjiu Yang 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
A novel control scheme has been proposed to solve the synchronization control problem for a nonlinearbilateral teleoperation system with time delays in this paper. An extended state observer is introduced to deal withthe lumped system uncertainties. Both fast convergence rate and high convergence precision are guaranteed viadesigning an integral sliding mode controller. Some general Lyapunov stability criteria are given for the nonlinearbilateral teleoperation system with time delays. Lastly, two Phantom Premium 1.5 HF robot manipulators are usedin the experiments to demonstrate the effectiveness of the developed techniques in this paper.