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- 저자 : Ximei Zhao (검색결과 5 건)
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Average Consensus of Multi-agent System With Binary-valued Observations
Ximei Wang,Ting Wang,Changbao Xu,Yanlong Zhao 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper considers average consensus problem of a multi-agent system with binary-valued observations. The information network transfers binary-valued information and the control is a quantity of transportation between neighbors. We propose a two-scale average consensus algorithm with a constant gain and prove the convergence and convergence rate of the algorithm. In the first stage, each agent estimates the states of its neighbours based on binary-valued observations for a holding time. In the second stage, the system updates the states of agents by a control law which is designed as a quantity of transportation between neighbors with a constant gain. The algorithm is proved to be convergent and asymptotically efficient, meanwhile, the renewal of agents can lead to average consensus. Finally, simulations illustrate the effectiveness of the obtained results.
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Dongxue Fu,Ximei Zhao,Hao Yuan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
In the presence of uncertainties, the position tracking performance of permanent magnet linear synchronous motor (PMLSM) will be affected to varying degrees. The time delay estimation (TDE) method can estimate and eliminate the influence of uncertain factors. In order to automatically find the input gain under the optimal TDE error, an adaptive time delay estimation (ATDE) method is proposed by introducing adaptive control. Combined with the nonsingular terminal sliding mode control method, the convergence speed and robust performance of the system are further improved. In addition, through rigorous mathematical analysis, the stability of state variables is proved. Finally, some experimental results are given to prove the effective performance of the control method.
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Hongyan Jin,Ximei Zhao,TianheWang 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.11
In this paper, a novel load disturbance observer-based global complementary sliding mode control (NLDOB-GCSMC) method is proposed to achieve high servo performance of the precision motion stage driven by a permanent magnet linear synchronous motor (PMLSM). The global complementary sliding mode control (GCSMC) method incorporates an approach angle into the saturation function to realize the dynamic change of the boundary layer, which guarantees the asymptotic stability and improves the global robustness of the system. Besides, compared to hybrid CSMC strategies, the GCSMC method has a simpler structure and faster response speed. However, in practical applications, the load disturbance has a significant impact on system performance. Therefore, a novel load disturbance observer (NLDOB) capable of identifying the load variation is proposed. According to the model reference adaptive identification (MRAI) theory, NLDOB can identify the load disturbance on-line and realize compensation to further improve the robustness. The more accurate tracking performance and stronger robustness of the proposed control scheme compared to conventional approaches have been confirmed through comparative experimental studies.
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Hao Yuan,Ximei Zhao 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.1
This article presents a novel precision synchronization control method and corresponding control design using adaptive jerk control (AJC) with parameter estimation to improve the synchronous performance for gantry servo system with parametric variations and unknown disturbances. Initially, cross-coupled control (CCC) is provided to realize the synchronous cooperation of two parallel permanent magnet linear synchronous motors (PMLSMs), and the coupled system model is transformed into a state-space form. Consequently, the filtered errors based on synchronous error and position tracking error are established to simultaneously guarantee that both the synchronous error and position tracking error converge to zero asymptotically. Then, AJC is proposed to handle the uncertainty. More specifically, an adaptive feedback gain is involved in the AJC for improving the robustness, without requiring a priori knowledge of the uncertainty. A novel adaptation law is introduced to update the adaptive feedback gain. Moreover, a terminal attractor is incorporated into the adaptation law to improve the convergence even with noise. Therefore, the chattering phenomenon are significantly alleviated. Meanwhile, parameter estimation is employed to address the model parametric variations. Experimental results demonstrate the efficiency and superior performance of the precision synchronization control method.
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Dongxue Fu,Ximei Zhao,Jianguo Zhu 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.2
This paper proposes a novel robust super-twisting nonsingular fast terminal sliding mode control method for high precision position tracking of permanent magnet linear synchronous motor (PMLSM). Based on the position tracking error of PMLSM, a nonsingular fast terminal sliding mode variable is constructed to avoid the singularity and achieve the convergence of the position error in a finite time. To improve the convergence speed of the super-twisting algorithm and solve the gain overestimation problem of the existing algorithm, a dual-layer nested adaptive adjustment law based on the super-twisting scheme is proposed, which does not need the information of the unknown uncertainties. While ensuring that the conditions of the existence of the sliding mode hold, the control gain is made as small as possible to obtain a continuous switching control law to suppress the effect of the chattering phenomenon. The Lyapunov stability proves the robustness and convergence of the system. Experimental results confirm the effectiveness and feasibility of the designed position tracking control scheme.
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