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Cheng Qian,Shuzong Chen,Changchun Hua,Kyoung-Su Park 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.5
This paper studied the fixed-time prescribed performance torsional vibration suppression control for the transmission system with actuator faults. Firstly, a novel electromechanical coupling torsional vibration model was established on the basis of the Lagrangian equation with the dissipation term and Kirchhoff’s law, which considered the nonlinear damping, nonlinear stiffness and the mechanical-electrical coupling relationship. Subsequently, an asymmetric fixed-time predetermined performance function was introduced to ensure that the state errors can converge in a given region in the fixed time, and a torsional vibration suppression control strategy with actuator faults was designed. A stability analysis indicated that the designed torsional vibration system was stable, and the performances of the transformed states were preserved. Finally, the transmission system of the rolling mill was selected as a research object for simulation testing, and the results illustrate the validity of the proposed algorithm.
Liuliu Zhang,Yue Guo,Changchun Hua 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
This paper investigates the adaptive event-triggered tracking problem for high-order nonlinear systems with deferred asymmetric time-varying full-state constraints. Firstly, a shifting function is introduced to remove the constraint bounds of the system state’s initial value, and a novel time-varying nonlinear function is adopted to deal with the asymmetric full-state constraints. Secondly, a coordinate transformation combining dynamic surface technology is proposed to remove the feasibility condition on virtual controllers. Then, an adaptive state-feedback event-triggered controller is designed to guarantee that the closed-loop system is stable and the asymmetric full-state constraints are maintained. Finally, the simulation is provided to illustrate the effectiveness of the control scheme.
Chao Ge,Chenlei Chang,Yajuan Liu,Changchun Hua 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
The exponential synchronization for a class of neural networks (NNs) based on dynamic event-triggered mechanism (DETM) is researched in this article. Firstly, an unbounded distributed delay is introduced into the NNs. Next, based on the characteristics of the sawtooth structure, an improved bilateral Lyapunov-Krasovskii functional (LKF) is constructed, which involves more information. By using improved integral inequality, some sufficient conditions are achieved for the exponential stability of the synchronization error system. Due to the influence of external factors or internal components, the controller parameter is uncertain. Then, a non-fragile controller is designed based on the decoupling technique. Moreover, a co-design scheme of controller gain and event-triggered matrix is obtained based on the linear matrix inequality technique. Finally, two examples are used to illustrate the validity and feasibility of the presented method.
Fang Wang,Zhigang Ma,Hongmei Gao,Chao Zhou,Changchun Hua 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.4
This paper addresses a nonsingular fast terminal sliding mode fault tolerant control (NFTSMFTC) scheme based on disturbance observer (DO) for a quadrotor UAV in the presence of external disturbances and actuator additive faults. Firstly, by analyzing the dynamic characteristics of a quadrotor UAV, the model is decoupled into outer-loop (position subsystem) and inner-loop (attitude subsystem). Secondly, the DO is utilized to deal with external disturbances and actuator additive faults effectively. Furthermore, nonsingular fast terminal sliding mode control (NFTSMC) can avoid the chattering problems of traditional sliding mode control (SMC) and singularity problems of terminal SMC. Moreover, compared with nonsingular terminal SMC, it behaves the faster convergence rate. So the NFTSMC method is applied to design controller. Finally, in the framework of Lyapunov theory, the stability of the closed-loop system is analyzed, and the tracking error is asymptotically stable. The effectiveness of the proposed control scheme is verified by simulation results.