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RISS 인기검색어
- 검색키워드
- 저자 : Mingyu Fu (검색결과 4 건)
- 무료
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Mingyu Fu,Taiqi Wang,Chenglong Wang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.6
This paper addresses the fixed-time trajectory tracking control problem of a fully actuated marine surface vehicle with full state constraints and system uncertainties. Acontinuous fixed- time convergence tracking controller is proposed based on fixed-time control and adding a power integrator methods,which achieves system stabilization within a finite time independent of system initial conditions. Moreover, a novel barrier Lyapunov function with a power integrator is designed to ensure the full state tracking error within the constraints. To accurately estimate the lumped disturbances of the vehicle system, a fixed-time disturbance observer is designed to guarantee the settling time of the disturbance observer bounded by a time constant independent of initial estimation errors. Finally, the proposed control scheme is proved to be fixed-time stable via fixed-time Lyapunov stability theorem and the full state constraints can never be violated. A numerical simulation is provided to illustrate the effectiveness and superiority of the proposed control scheme.
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Mingyu Fu,Tan Zhang,Fuguang Ding 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.8
In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on the states, and model uncertainties. First, a new improved integral barrier Lyapunov function is proposed to constrain the surge speed, it can guarantee the lower limit of the surge speed is above the resistance hump speed in order to prevent loss of course stability. Second, to ensure that the heading remains within the pre-specified safety boundary, a time-varying integral barrier Lyapunov function is introduced to avoid the violation of the constraint. Third, we constrain the yaw angular velocity to the interior of the time-varying safety boundary is related to the surge speed to aim at performing the safety turning under the high speed. To deal with model uncertainties, an adaptive parameter approximation algorithm is designed to estimate it. With the help of Lyapunov’s stability theory, it can be proved that all the tracking errors are uniformly ultimately bounded. Finally,results from some simulation studies verify the effectiveness and universality of the proposed scheme.
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Mingyu Fu,Dan Bai,Hanbo Deng,Lijing Dong 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.4
In this paper, a novel global sliding mode controller (GSMC) with a comprehensive observer is used to solve the problems of time-varying coefficients, modeling errors and disturbance with unknown upper bound in the trajectory tracking control of the air-cushion vehicle (ACV). Considering the multiple resistance coefficients that change with the motion state in the ACV’s dynamic model, a comprehensive observer is used to estimate and compensate for the model uncertainty in real time. An adaptive disturbance estimation law without disturbance upper bound is given to compensate for the total disturbance. On the basis of real-time compensation of model uncertainty by adaptive estimation law, a new GSMC with hyperbolic tangent function is proposed to track the ACV’s trajectory. The interconnected system of observer and trajectory tracking controller is shown to have enhanced robustness. Finally, simulations verify the effectiveness of the proposed control approaches.
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Yulong Tuo,Yuanhui Wang,Simon X. Yang,Mohammad Biglarbegian,Mingyu Fu 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
For floating production storage and offloading (FPSO) vessels, a dynamic positioning controller is necessary because using only a mooring system is not possible to keep the ship within a predefined region. Position control of the FPSO vessel is extremely challenging due to model uncertainties and unknown control coefficients. This paper develops a new robust adaptive positioning controller consisting of several components: adaptive law, dynamic surface control (DSC) technology, sigmoid tracking differentiator (STD), Nussbaum gain function, and structural reliability index. Model uncertainties can be estimated by the adaptive law derived from the Lyapunov theory. The DSC technology is used to eliminate repeated differentiation by introducing first-order filtering of the virtual control. The chattering-free STD with the characteristics of global fast convergence can estimate the derivatives of model uncertainties that are difficult to calculate directly. Therefore, the DSC and STD techniques make the proposed controller simpler to compute and easier to implement in engineering practice. Most of the traditional controllers require the information about the control coefficients to guarantee the stability of the closed-loop system while the Nussbaum gain function can remove the requirement for a priori knowledge of the sign of control coefficients. The capacity of the mooring system can be fully utilized to position the FPSO vessel by adjusting the structural reliability index on the premise of ensuring the safety of mooring lines, and hence less control effort is needed for the positioning controller. Simulations using two sets of system parameters demonstrate the proposed controller’s effectiveness. In addition, a qualitative comparison with the adaptive backstepping controller shows that our proposed controller is computationally more efficient and does not require a priori knowledge of the sign of control coefficients. A quantitative comparison with robust adaptive controller without the structural reliability shows that less control effort is needed using our proposed controller.
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