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Nonlinear model predictive control strategy for vehicle path tracking with steering actuator’s dynamic characteristics 认领 引用
1
作者 Bin Wang Zhiguo Zhao +1 位作者 Xiwen Yuan Yuyi Wang 《Control Theory and Technology》 EI CSCD 2026年第3期359-373,共15页
The dynamic characteristics of the steering actuator,including response time-delay and calibration deviation,are crucial to a vehicle’s path tracking performance.This study proposes a novel vehicle path tracking cont... The dynamic characteristics of the steering actuator,including response time-delay and calibration deviation,are crucial to a vehicle’s path tracking performance.This study proposes a novel vehicle path tracking control strategy by combining nonlinear model predictive control(NMPC),time-delay model control,and calibration deviation compensation control.In the first stage,the path tracking NMPC strategy is designed without considering the steering actuator’s dynamic characteristics.In the second stage,by combining polynomial fitting with linear matrix inequality(LMI)techniques,a nonlinear time-delay model control algorithm is designed to address the response time-delay.In the third stage,based on the inverse model of the calibration deviation,a nonlinear compensation algorithm is designed for steering actuator’s calibration deviation.Finally,simulation and real vehicle experiment results are provided to illustrate the effectiveness of the proposed vehicle path tracking control strategy. 展开更多
关键词 Nonlinear model predictive control(NMPC) Path tracking Nonlinear time-delay model control Calibration deviation compensation control
Dynamical analysis and nonlinear vibration control of integrated composite beam structure in thermal environment 认领 引用
2
作者 Donghui LI Faming ZHANG +4 位作者 Qunfang LI Shang GAO Jian ZANG Yewei ZHANG Fengtian YANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第1期278-300,共23页
Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery supp... Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations. 展开更多
关键词 Composite laminated beam Dynamics characteristic Integrated composite beam Modal experiment NiTiNOL steel wire rope Nonlinear vibration control
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Tuning nonlinear model predictive control via Bayesian optimization:a comparative performance analysis 认领 引用
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作者 Maria Alice de F.Marques Juarez dos Santos Azevedo +1 位作者 Julio Elias Normey-Rico Marcus V.Americano da Costa 《Control Theory and Technology》 EI CSCD 2026年第3期374-387,共14页
This paper presents a new approach to tuning the cost function weights of a nonlinear model predictive controller(NMPC)using offline Bayesian optimization(BO).We propose a recursive weight selection method that integr... This paper presents a new approach to tuning the cost function weights of a nonlinear model predictive controller(NMPC)using offline Bayesian optimization(BO).We propose a recursive weight selection method that integrates BO directly into the NMPC simulation loop and targets an economic cost function.This approach identifies weights that optimize an economic cost function,ensuring that controller performance is aligned with the operational economics of the process.A case study involving an interconnected tank system with nonlinear level and temperature dynamics illustrates the method.Two operating conditions are tested:an undisturbed scenario and a disturbed one,incorporating sensor noise and model–plant mismatch.In both scenarios,the BO-tuned NMPC outperforms Traditional and Satisficing-based weight strategies,yielding smoother control actions.In the disturbed case,cost reductions of up to 4.5%are achieved.The results confirm that offline BO-based tuning offers a viable and robust alternative to manual or online adaptive strategies,especially in systems where online retraining is impractical.Sensitivity tests further highlight the importance of informed search interval selection to ensure convergence and performance. 展开更多
关键词 Nonlinear predictive control Bayesian optimization Tuning parameters Cost function
Adaptive Control of MIMO Mechanical Systems with Unknown Actuator Nonlinearities Based on the Nussbaum Gain Approach 认领 引用 被引量：5
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作者 Ci Chen Zhi Liu +2 位作者 Yun Zhang C.L.Philip Chen Shengli Xie 《IEEE/CAA Journal of Automatica Sinica》 EI 2016年第1期26-34,共9页
This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In ... This paper investigates MIMO mechanical systems with unknown actuator nonlinearities. A novel Nussbaum analysis tool for MIMO systems is established such that unknown time-varying control coefficients are tackled. In contrast to existing literatures on continuous-time systems, the newly-developed Nussbaum tool focuses on extending the traditional Nussbaum result from one dimensional case to the multiple one. Specifically, not only the multiple unknown input coefficients are extended to the time-varying, but also the limitation of the prior knowledge of coefficients' upper and lower bounds is removed. Furthermore, an adaptive robust controller associated with the proposed tool is presented. The asymptotic tracking of MIMO mechanical systems is guaranteed with the help of the Lyapunov Theorem. Finally, a simulation example is provided to examine the validity of the proposed scheme. © 2014 Chinese Association of Automation. 展开更多
关键词 Actuators Adaptive control systems Control nonlinearities Mechanical actuators Mechanics MIMO systems Time varying control systems
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Adaptive Multimodal Servoing Control for Unmanned Aerial Manipulator Perching 认领 引用
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作者 Yitian Zhang Bo Cai +1 位作者 Dongyang Li Ye Li 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第3期731-733,共3页
Dear Editor,This letter presents an adaptive control framework for unmanned aerial manipulator(UAM)perching,integrating image segmentationbased tracking with multimodal nonlinear model predictive control(NMPC).A hybri... Dear Editor,This letter presents an adaptive control framework for unmanned aerial manipulator(UAM)perching,integrating image segmentationbased tracking with multimodal nonlinear model predictive control(NMPC).A hybrid control strategy with depth derivative prediction and pitch feedforward compensation effectively resolves control parameter conflicts between pole grasping and suction-based perching on planar surfaces.An autonomous switching mechanism,leveraging detection confidence,spatial fusion,and pixel-level feature enhancement,ensures accurate target pose estimation under dynamic occlusions. 展开更多
关键词 hybrid control strategy adaptive control framework image segmentationbased tracking depth derivative prediction unmanned aerial manipulator uam perchingintegrating multimodal nonlinear model predictive control nmpc pole grasping pitch feedforward compensation
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A Comprehensive Survey on Control of Structured Nonlinear Systems Under Network Transmission Constraints:Advances,Prospects and Challenges 认领 引用
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作者 Ning Li Zidong Wang +2 位作者 Lei Zou Guhui Li Weihao Song 《Artificial Intelligence Science and Engineering》 2026年第2期121-140,共20页
The control problem of nonlinear systems under network transmission constraints has become a central research topic in networked control systems(NCSs).While communication networks introduce flexibility and scalability... The control problem of nonlinear systems under network transmission constraints has become a central research topic in networked control systems(NCSs).While communication networks introduce flexibility and scalability,their inherent limitations disrupt the information conditions and structural assumptions required by traditional nonlinear control methods,thereby posing significant challenges to system stability and performance.These issues have led to extensive efforts to develop nonlinear robust control frameworks tailored for networked environments.This survey reviews the main progress in this area by examining three representative classes of nonlinear systems with distinct structural features:strict-feedback/pure-feedback systems,nonlinear systems with matched uncertainties,and feedback-linearizable systems.The specific ways in which network-induced phenomena destroy the structural premises of these control approaches are clarified,including interruptions of recursive chains in backstepping,violations of arrival and sliding conditions in sliding mode control,and distortions of state transformations in feedback linearization.The solution strategies proposed to address these challenges are then grouped and summarized according to their underlying mechanisms.Finally,key conclusions are drawn,and several potential research directions are outlined to guide future work on nonlinear control under network transmission constraints. 展开更多
关键词 nonlinear systems network transmission constraints nonlinear control methods backstepping sliding mode control feedback linearization
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Nonlinear flow control mechanism of two flexible flaps with fluid-structure interaction 认领 引用
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作者 Jiakun Han Chao Dong +1 位作者 Jian Zhang Gang Chen 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2025年第2期116-131,共16页
The flow control at low Reynolds numbers is one of the most promising technologies in the field of aerodynamics,and it is also an important source of the innovation for novel aircraft.In this study,a new way of nonlin... The flow control at low Reynolds numbers is one of the most promising technologies in the field of aerodynamics,and it is also an important source of the innovation for novel aircraft.In this study,a new way of nonlinear flow control by interaction between two flexible flaps is proposed,and their flow control mechanism is studied employing the self-constructed immersed boundary-lattice Boltzmann-finite element method(IB-LB-FEM).The effects of the difference in material properties and flap length between the two flexible flaps on the nonlinear flow control of the airfoil are discussed.It is suggested that the relationship between the deformation of the two flexible flaps and the evolution of the vortex under the fluid-structure interaction(FSI).It is shown that the upstream flexible flap plays a key role in the flow control of the two flexible flaps.The FSI effect of the upstream flexible flap will change the unsteady flow behind it and affect the deformation of the downstream flexible flap.Two flexible flaps with different material properties and different lengths will change their own FSI characteristics by the induced vortex,effectively suppressing the flow separation on the airfoil’s upper surface.The interaction of two flexible flaps plays an extremely important role in improving the autonomy and adjustability of flow control.The numerical results will provide a theoretical basis and technical guidance for the development and application of a new flap passive control technology. 展开更多
关键词 Nonlinear flow control Flexible flap Fluid-structure interaction Flow separation IB-LB-FEM
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Quaternion-Based Modeling and Predefined-Time Tracking Control of a Fully Actuated Autonomous Underwater Vehicle 认领 引用
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作者 Yiming Li Xiao Wang +2 位作者 Jinglong Shi Jian Liu Changyin Sun 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第11期2275-2285,共11页
This paper investigates the modeling and the practical predefined-time(PdT)tracking control problems for a fully actuated disk-shaped autonomous underwater vehicle(AUV)with six degrees of freedom.To overcome the gimba... This paper investigates the modeling and the practical predefined-time(PdT)tracking control problems for a fully actuated disk-shaped autonomous underwater vehicle(AUV)with six degrees of freedom.To overcome the gimbal lock problem inherent in Euler angle representation,unit quaternions are adopted to model the AUV,accounting for internal uncertainties and external disturbances.Then,an improved time-varying function is introduced,which serves as the basis for designing a nonsingular sliding surface and sliding mode controller with PdT stability.This approach ensures that the tracking errors converge within a predefined time,independent of initial conditions and design parameters.Compared with traditional PdT controllers,the proposed method eliminates singularities,enhances the precision of convergence time estimation,and typically yields smaller,smoother initial control inputs,thus improving its potential for engineering applications.Numerical simulations validate the effectiveness and performance of the proposed controller. 展开更多
关键词 Autonomous underwater vehicle(AUV) nonlinear control predefined-time control tracking control unit quaternion
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Hierarchical Secure Steering Control of In-Wheel Motor Driven Electric Vehicle Under Cyber-Physical Constraints 认领 引用
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作者 Zifan Gao Dawei Zhang Shuqian Zhu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第7期1504-1506,共3页
Dear Editor,This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven(IWMD)electric vehicle(EV)subject to limited network resources,hybrid cyber-attacks,model nonli... Dear Editor,This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven(IWMD)electric vehicle(EV)subject to limited network resources,hybrid cyber-attacks,model nonlinearities,actuator redundancy and airflow disturbance.A hierarchical control architecture is proposed specifically for solving the problems of nonlinear system modeling and actuator redundancy.By utilizing the advantages of fully actuated system(FAS)approach,a nonlinear virtual controller against airflow disturbance is constructed in upper layer system and an event-triggered nonlinear distributed controller is proposed in lower layer system under stochastic hybrid cyber-attacks.A case study of overtaking task is carried out to validate the FAS-based hierarchical control strategy. 展开更多
关键词 steering tracking cyber physical constraints fully actuated system fas approacha hierarchical control architecture wheel motor driven electric vehicle nonlinear virtual controller nonlinear system modeling hierarchical control
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Parameter identification and high order active disturbance rejection control of electro-hydraulic servo motor system 认领 引用
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作者 WANG Xiaojing GAO Wentao +1 位作者 ZHANG Yuxuan SUN Yuwei 《High Technology Letters》 EI CAS 2025年第3期280-287,共8页
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot... An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth. 展开更多
关键词 electro-hydraulic servo system tracking differentiator filter minimum mean square error identification advanced disturbance rejection controller nonlinear feedback control law extended state observer parameter optimal proportional integral derivative control
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Fishing Ship Trajectory Tracking Control Based on the Closed-Loop Gain Shaping Algorithm Under Rough Sea 认领 引用
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作者 SONG Chun-yu GUO Te-er SUI Jiang-hua 《China Ocean Engineering》 SCIE EI CSCD 2025年第2期365-372,共8页
This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working... This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships. 展开更多
关键词 trajectory tracking control nonlinear feedback control fishing ship closed-loop gain shaping algorithm rough sea
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Chaotic Analysis and Control of a Two-Peak Discrete Chaotic System 认领 引用 被引量：1
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作者 ZHANG Liang HAN Qin 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2025年第3期276-282,共7页
The nonlinear dynamic characteristics of a two-peak discrete chaotic system are studied.Through the study of the nonlinear dy‐namic behavior of the system,it is found that with the change of the system parameters,the... The nonlinear dynamic characteristics of a two-peak discrete chaotic system are studied.Through the study of the nonlinear dy‐namic behavior of the system,it is found that with the change of the system parameters,the system starts from a chaotic state,and then goes through intermittent chaos,stable region,period-doubling bifurcation to a chaotic state again.The systems critical conditions and pro‐cess to generate intermittent chaos are analyzed.The feedback control method sets linear and nonlinear controllers for the system to control the chaos.By adjusting the value of control parameters,the intermittent chaos can be delayed or disappear,and the stability region and period-doubling bifurcation process of the system can be expanded.Both linear controllers and nonlinear controllers have the same control effect.The numerical simulation analysis verifies the correctness of the theoretical analysis. 展开更多
关键词 two-peak discrete chaotic system intermittent chaos linear controller nonlinear controller chaos control
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Global adaptive output feedback control of nonlinear time-delay systems with measurement uncertainty 认领 引用
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作者 Weiguo Cai Xianglei Jia Xinxu Ju 《Control Theory and Technology》 EI CSCD 2025年第1期145-152,共8页
In this paper,a pair of dynamic high-gain observer and output feedback controller is proposed for nonlinear systems with multiple unknown time delays.By constructing Lyapunov-Krasovskii functionals,it shows that globa... In this paper,a pair of dynamic high-gain observer and output feedback controller is proposed for nonlinear systems with multiple unknown time delays.By constructing Lyapunov-Krasovskii functionals,it shows that global state asymptotic regulation can be ensured by introducing a single dynamic gain;furthermore,global asymptotic stabilization can be achieved by choosing a sufficiently large static scaling gain when the upper bounds of all system parameters are known.Especially,the output coefficient is allowed to be non-differentiable with unknown upper bound.This paper proposes a generalized Lyapunov matrix inequality based dynamic-gain scaling method,which significantly simplifies the design computational complexity by comparing with the classic backstepping method. 展开更多
关键词 Output feedback Measurement uncertainty Nonlinear adaptive control Time delays
Learning safe and decentralized flight for aerial swarms in dynamic complex environments 认领 引用 被引量：1
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作者 Fang DENG Qiang WANG +2 位作者 Xinrui XIE Jie CHEN Maobin LU 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第7期22-37,共16页
Autonomous aerial swarms demonstrate significant potential for a range of applications,such as environmental monitoring,disaster response,and search-and-rescue operations.However,achieving safe and decentralized navig... Autonomous aerial swarms demonstrate significant potential for a range of applications,such as environmental monitoring,disaster response,and search-and-rescue operations.However,achieving safe and decentralized navigation in dynamic,cluttered environments remains a fundamental challenge,particularly under strict constraints of onboard sensing and computation.Classical modular pipelines suffer from latency accumulation and limited scalability,while fully end-to-end Reinforcement Learning(RL)approaches often face severe sim-to-real degradation and lack safety or stability guarantees.To address these challenges,this paper proposes a novel learning-based decentralized navigation framework that integrates a LiDAR-based RL policy with a Safety-assured Nonlinear Model Predictive Controller(SA-NMPC)for reliable execution.The proposed framework features a biologically-inspired decoupled hierarchical architecture:the RL front-end generates agile,shorthorizon navigation commands based on raw Light Detection and Ranging(LiDAR)scans,while the SA-NMPC back-end ensures dynamically feasible tracking and active disturbance rejection.To ensure safe operation in dynamic scenes,an asynchronous dual-stream perception system is employed to enhance the capabilities of dynamic obstacle tracking and static map maintenance.The proposed framework has been validated through extensive simulation and real-world experiments,including the 2025 IEEE IROS Aerial Autonomy Challenge and multi-quadrotor swarm flights.The system demonstrates zero-shot sim-to-real transfer capability,robust performance in dynamic environments,and significant improvements over both classical and learning-based baselines. 展开更多
关键词 Swarm navigation Perception and autonomy Reinforcement learning Nonlinear model predictive control Flight control system Micro aerial vehicles(MAVs)
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Robust nonlinear MPC for tracking piece-wise constant reference signals 认领 引用
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作者 Huahui Xie Li Dai +2 位作者 Zhongqi Sun Di-Hua Zhai Yuanqing Xia 《Control Theory and Technology》 EI CSCD 2026年第2期230-239,共10页
This work provides a robust model predictive control framework tailored for tracking piece-wise constant reference signals for nonlinear dynamics subject to additive disturbances.The approach integrates setpoint optim... This work provides a robust model predictive control framework tailored for tracking piece-wise constant reference signals for nonlinear dynamics subject to additive disturbances.The approach integrates setpoint optimization and robust constraint satisfaction into a unified optimization problem,guaranteeing the robust stability within a vicinity of an optimal admissible setpoint.A crucial feature of the approach is its ability to preserve recursive feasibility despite abrupt variations in the target.An offline implementation based on set-valued system representations is also discussed.Numerical examples demonstrate the effectiveness of the controller. 展开更多
关键词 Nonlinear model predictive control Setpoint tracking Robust control
Adaptive Nonlinear Optimal Compensation Control for Electro-hydraulic Load Simulator 认领 引用 被引量：31
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作者 Yao Jianyong Jiao Zongxia +1 位作者 Shang Yaoxing Huang Cheng 《Chinese Journal of Aeronautics》 SCIE EI CAS 2010年第6期720-733,共14页
Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear paramete... Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved. 展开更多
关键词 torque control nonlinear control optimal control adaptive electro-hydraulic load simulator parameter estimation position disturbance
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Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator 认领 引用 被引量：23
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作者 YAO Jianyong JIAO Zongxia +2 位作者 YAO Bin SHANG Yaoxing DONG Wenbin 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2012年第5期766-775,共10页
This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear proper... This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved. 展开更多
关键词 hydraulic load simulator adaptive control robust control nonlinear control hydraulic actuators Lyapunov functions
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Variable Structure Control of Catastrophic Course in Airdropping Heavy Cargo 认领 引用 被引量：33
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作者 Zhang Huiyuan Shi Zhongke 《Chinese Journal of Aeronautics》 SCIE EI CAS 2009年第5期520-527,共8页
The mathematical model of a transport aircraft would be subjected to a sudden change when heavy cargo is dropped off in airdropping,which exerts serious influences upon the safety of the aircraft.A variable structure ... The mathematical model of a transport aircraft would be subjected to a sudden change when heavy cargo is dropped off in airdropping,which exerts serious influences upon the safety of the aircraft.A variable structure controller is specially designed for handling the airdrop process.The nonlinear system is linearized by input-output feedback linearization using differential geometry theories.On this basis,an inner loop system for velocity and attitude tracking control is designed by using the exponentially approaching rule of the variable structure theory.The whole flight control system is integrated with the outer loop flight altitude control.Digital simulation evidences the applicability of the system to potentially catastrophic course in airdropping heavy cargo and provides robustness against system parameter perturbation. 展开更多
关键词 flight control airdrop nonlinear control system variable structure control feedback linearization sliding mode control
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Nonlinear Model Algorithmic Control of a pH Neutralization Process 认领 引用 被引量：11
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作者 邹志云 于蒙 +4 位作者 王志甄 刘兴红 郭宇晴 张风波 郭宁 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第4期395-400,共6页
Control of pH neutralization processes is challenging in the chemical process industry because of their inherent strong nonlinearity. In this paper, the model algorithmic control (MAC) strategy is extended to nonlinea... Control of pH neutralization processes is challenging in the chemical process industry because of their inherent strong nonlinearity. In this paper, the model algorithmic control (MAC) strategy is extended to nonlinear processes using Hammerstein model that consists of a static nonlinear polynomial function followed in series by a linear impulse response dynamic element. A new nonlinear Hammerstein MAC algorithm (named NLH-MAC) is presented in detail. The simulation control results of a pH neutralization process show that NLH-MAC gives better control performance than linear MAC and the commonly used industrial nonlinear propotional plus integral plus derivative (PID) controller. Further simulation experiment demonstrates that NLH-MAC not only gives good control response, but also possesses good stability and robustness even with large modeling errors. 展开更多
关键词 model algorithmic control nonlinear model predictive control Hammerstein model pH neutralization process control simulation
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A practical nonlinear robust control approach of electro-hydraulic load simulator 认领 引用 被引量：10
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作者 Wang Chengwen Jiao Zongxia +1 位作者 Wu Shuai Shang Yaoxing 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2014年第3期735-744,共10页
This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity... This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator （EHLS）. The tracking performance of the EHLS is mainly limited by the actuator＇s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator＇s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method. 展开更多
关键词 Co-simulation Electro-hydraulic load simulator Hydraulic control equipment Nonlinear robust control Parametric uncertainty
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