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Model Free Control Based on GIMC Structure
Zenghui Wang,Yanxia Sun,Guoyuan Qi,Barend Jacobus Van Wyk 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.1
Many control researches for complicated and uncertain system are model-dependent and therefore require some prior knowledge for the complex systems. To avoid this problem, a number of model-free controllers are proposed. However, it is difficult to determine the control performance as the controller is not designed according certain system model especially when there are uncertainties and/or nonlinear dynamics in the system. To get over this problem, the model free controller (MFC) based on generalized internal model control (GIMC) structure is proposed in this paper. The MFC is used to attenuate the disturbance or uncertainty, and the system performance is determined by the nominal model and the nominal model controller. The parameters of nominal-model controller can be easily changed for meeting the change of the desired requirements. Moreover, the robust controller in the original GIMC is disassembled and rearranged to make the proposed methods easier to use, and the proposed method makes the controller be more flexible and greatly improves the system performance. Finally, the experiment results show that the MFC can be used to control the nonlinear systems and get the expected performance. The statistical analysis of performance for servo and regulatory behaviors also shows that the proposed method can achieve a better control performance than just using model free controller.
Quantitative Analysis of Critical Limitation in Using Extended State Observer
Mingwei Sun,Yi Li,Zenghui Wang,Zengqiang Chen 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
Active disturbance rejection control (ADRC) has been successfully widely applied. The extended stateobserver (ESO) is a crucial component of ADRC to deal with uncertainties in many control systems. Althoughthe nominal stability of ADRC was proved by adopting a sufficiently fast observer with a performance recoveryprinciple, it is difficult to be employed in practice because severe oscillation or even instability might be triggeredif the fast observer was used. This paper investigates the reason behind this phenomenon within the frameworkof input time-delay sensitivity for a typical first-order system, which can provide an insightful understanding ofADRC. The positive root of the polynomial which determines the maximal input time-delay maintaining closed loopstability is quantitatively analyzed and the relationship among the bandwidth of ESO, other control parametersand the allowable input time-delay is thoroughly studied. Finally, numerical examples are presented to validate thecorresponding theoretical results.
Yunxi Zhang,Yu Fan,Mingwei Sun,Zenghui Wang,Zengqiang Chen 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.1
The high-speed anti-ship missile might encounter a challenge in the terminal phase if there are mixed targets, including false and true ones. There is only a quite short time to take action after the onboard radar can distinguish which targets are true or false. In this study, a tunable acceleration feedback gain is used to realize a unique integrated guidance and control scheme in a natural way by maintaining advantages of the traditionally practical proportional navigation and three-loop acceleration autopilot without introducing additional dynamics as the existing methods in the literature. The gain range can be determined using a numerical calculation scheme. The adjoint method is employed to reveal the advantage of the tunable gain and can then obtain the optimal gain. The proposed method can achieve a trade-off between the effective navigation gain and the settling time of the autopilot during the integration. Extensive simulations are performed to validate the appealing discovery. This philosophy offers guideline for the renovation of existing anti-ship missiles.
Grey Wolf Optimization based Active Disturbance Rejection Control Parameter Tuning for Ship Course
Jia Ren,Zengqiang Chen,Yikang Yang,Mingwei Sun,Qinglin Sun,Zenghui Wang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3
It is important to control the ship course in complicated ocean environment. In this paper, a Grey Wolf Optimization (GWO) based Active Disturbance Rejection Control (ADRC) tuning method is proposed in the application of the ship course. Here, GWO is used to tune the parameters of ADRC. To validate the performance of the proposed method, some simulations have been carried out and the results are compared with the results of other tuning methods, such as, Harris Hawks Optimization (HHO), Particle Swarm Optimization (PSO), Q-learning and manual tuning. To test the stability of different tuning methods, the cases of no disturbance, constant value disturbance, second-order wave force disturbance, white noise disturbance and mixed disturbance are considered. The robustness of the system for parameters perturbation is analyzed. The research indicates that the GWO based ADRC can achieve better performance than other methods.