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Robust control strategy for semi-active air suspension systems based on reinforcement learning with entropy theory 认领 引用
1
作者 Da Wang Guoqing Zhang +3 位作者 Chunyang Qi Chuanxue Song Feng Xiao Liqiang Jin 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2026年第7期541-554,共14页
This study proposes a robust control strategy for semi-active air suspension systems(SASS)based on entropy theory.The multi-objective optimization of a system can be described as a long-term problem using entropy valu... This study proposes a robust control strategy for semi-active air suspension systems(SASS)based on entropy theory.The multi-objective optimization of a system can be described as a long-term problem using entropy values by innovatively introducing entropy theory.The state marginal probability of the SASS is incorporated into the reward function as the entropy value.This incorporation incentivizes the agent to focus on reducing the entropy value of the system state over a period of time during the exploration process,thereby reducing the degree of coupling between system states.This study also proposes an optimization strategy that introduces a state observer based on a variational auto-encoder.The observer can extract environmental features from historical states and expand the dimension of the state,thereby enhancing the generalization performance of the system under different road excitations.Bench test results show that the algorithm improves ride comfort while ensuring robustness.The root mean square(RMS)of body vertical acceleration decreased by 13.01%,while the RMS of dynamic tyre displacement only increased by 2.36%. 展开更多
关键词 Semi-active air suspension Entropy theory Robust controls Variational auto-encoder
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Fast,Safe and Robust Motion Planning for Autonomous Vehicles Based on Robust Control Invariant Tubes 认领 引用
2
作者 Mingzhuo Zhao Tong Shen +1 位作者 Fanxun Wang Guodong Yin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第2期326-343,共18页
This paper tackles uncertainties between planning and actual models.It extends the concept of RCI(robust control invariant)tubes,originally a parameterized representation of closed-loop control robustness in tradition... This paper tackles uncertainties between planning and actual models.It extends the concept of RCI(robust control invariant)tubes,originally a parameterized representation of closed-loop control robustness in traditional feedback control,to the domain of motion planning for autonomous vehicles.Thus,closed-loop system uncertainty can be preemptively addressed during vehicle motion planning.This involves selecting collision-free trajectories to minimize the volume of robust invariant tubes.Furthermore,constraints on state and control variables are translated into constraints on the RCI tubes of the closed-loop system,ensuring that motion planning produces a safe and optimal trajectory while maintaining flexibility,rather than solely optimizing for the open-loop nominal model.Additionally,to expedite the solving process,we were inspired by L2gain to parameterize the RCI tubes and developed a parameterized explicit iterative expression for propagating ellipsoidal uncertainty sets within closedloop systems.Furthermore,we applied the pseudospectral orthogonal collocation method to parameterize the optimization problem of transcribing trajectories using high-order Lagrangian polynomials.Finally,under various operating conditions,we incorporate both the kinematic and dynamic models of the vehicle and also conduct simulations and analyses of uncertainties such as heading angle measurement,chassis response,and steering hysteresis.Our proposed robust motion planning framework has been validated to effectively address nearly all bounded uncertainties while anticipating potential tracking errors in control during the planning phase.This ensures fast,closed-loop safety and robustness in vehicle motion planning. 展开更多
关键词 Motion planning Vehicle dynamics Robust control invariant tubes Autonomous driving Robust control Trajectory optimization
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Path Tracking Robust Control Strategy for Intelligent Vehicle Based on Force-Driven with MPC and H∞ 认领 引用
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作者 Qiangqiang Yao Yiheng Shi +1 位作者 Peng Hang Ying Tian 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第5期351-361,共11页
Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature ... Due to errors in vehicle dynamics modeling,uncertainty in model parameters,and disturbances from curvature,the performance of the path tracking controller is poor or even unstable under high-speed and large-curvature conditions.Therefore,a path tracking robust control strategy based on force-driven H∞and MPC is proposed.To fully exploit the nonlinear dynamics characteristics of tires,a force-driven state space model of a path tracking system based on a linear time-varying tire model is established;the H∞and MPC methods are used to design a robust controller.Considering disturbance and system state constraints,the robust control constraint model based on LMI is established.Finally,the proposed controller is validated through joint simulations using CarSim and MATLAB.The results show that the maximum lateral deviation is reduced by 17.07%,and the maximum course angle deviation is reduced by 13.04%under large curvature disturbance conditions.The maximum lateral deviation is reduced by 27.85%,and the maximum course angle deviation is reduced by 31.17%under conditions of uncertain road adhesion coefficients.Based on the controller’s performance,the proposed controller effectively mitigates modeling errors,parameter uncertainties,and curvature disturbances. 展开更多
关键词 Intelligent vehicles Model predictive control Robust control Path tracking Force-driven
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A Robustness Evaluation Method for the Robust Control of Electrical Drive Systems based on Six-sigma Methodology 认领 引用
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作者 Nabil Farah Gang Lei +1 位作者 Jianguo Zhu Youguang Guo 《CES Transactions on Electrical Machines and Systems》 EI CSCD 2025年第2期131-145,共15页
Numerous uncertainties in practical production and operation can seriously affect the drive performance of permanent magnet synchronous machines(PMSMs).Various robust control methods have been developed to mitigate or... Numerous uncertainties in practical production and operation can seriously affect the drive performance of permanent magnet synchronous machines(PMSMs).Various robust control methods have been developed to mitigate or eliminate the effects of these uncertainties.However,the robustness to uncertainties of electrical drive systems has not been clearly defined.No systemic procedures have been proposed to evaluate a control system's robustness(how robust it is).This paper proposes a systemic method for evaluating control systems'robustness to uncertainties.The concept and fundamental theory of robust control are illustrated by considering a simple uncertain feedback control system.The effects of uncertainties on the control performance and stability are analyzed and discussed.The concept of design for six-sigma(a robust design method)is employed to numerically evaluate the robustness levels of control systems.To show the effectiveness of the proposed robustness evaluation method,case studies are conducted for second-order systems,DC motor drive systems,and PMSM drive systems.Besides the conventional predictive control of PMSM drive,three different robust predictive control methods are evaluated in terms of two different parametric uncertainty ranges and three application requirements against parametric uncertainties. 展开更多
关键词 Permanent magnet synchronous machines(PMSMs) Predictive control Uncertainties Robustness evaluation Robust control Six-sigma
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An ADP-based robust control scheme for nonaffine nonlinear systems with uncertainties and input constraints 认领 引用 被引量：1
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作者 Shijie Luo Kun Zhang Wenchao Xue 《Chinese Physics B》 SCIE EI CAS CSCD 2025年第6期251-260,共10页
The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-com... The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-compensation technique for converting the original nonaffine dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the original nonaffine system and the auxiliary system, demonstrating that the obtained optimal policies from the auxiliary system can achieve the robust controller of the nonaffine system. Thirdly, an online adaptive dynamic programming(ADP) algorithm is designed for approximating the optimal solution of the Hamilton–Jacobi–Bellman(HJB) equation.Moreover, the gradient descent approach and projection approach are employed for updating the actor-critic neural network(NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded stability of state is guaranteed. Finally, in simulation, some examples are offered for validating the effectiveness of this presented approach. 展开更多
关键词 adaptive dynamic programming robust control nonaffine nonlinear system neural network
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Drivability improvements for a single-motor parallel hybrid electric vehicle using robust controls 认领 引用 被引量：8
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作者 Hu ZHANG Cun-lei WANG +2 位作者 Yong ZHANG Jun-yi LIANG Cheng-liang YIN 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2014年第4期291-301,共11页
For a single-motor parallel hybrid electric vehicle,during mode transitions(especially the transition from electric drive mode to engine/parallel drive mode,which requires the clutch engagement),the drivability of the... For a single-motor parallel hybrid electric vehicle,during mode transitions(especially the transition from electric drive mode to engine/parallel drive mode,which requires the clutch engagement),the drivability of the vehicle will be signifi-cantly affected by a clutch torque induced disturbance,driveline oscillations and jerks which can occur without adequate controls.To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle,two controllers are proposed.The first controller is the engine-side controller for engine cranking/starting and speed synchronization.The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties.The controllers are all composed of a feed-forward control and a robust feedback control.The robust controllers are designed by using the mu synthesis method.In the design process,control-oriented system models that take account of various parameter uncertainties and un-modeled dynamics are used.The results of the simulation demonstrate the effectiveness of the proposed control algorithms. 展开更多
关键词 Hybrid electric vehicle Drivability Mode transition Robust control Mu synthesis
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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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Adaptive robust control for triple avoidance - striking - arrival performance of uncertain tank mechanical systems 认领 引用 被引量：6
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作者 Zong-fan Wang Guo-lai Yang +2 位作者 Xiu-ye Wang Qin-qin Sun Yu-ze Ma 《Defence Technology（防务技术）》 SCIE EI CAS CSCD 2022年第8期1483-1497,共15页
This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(pos... This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(possibly rapid)are time-varying but bounded(possibly unknown).The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself(out of the enemy fire zone).The tank maintains this condition until reaching the predefined region.In this paper,an approximate constraint following control method is adopted to solve this problem,and the original constraints are creatively divided into two categories:the avoidance-tracking constraint and the striking-arrival constraint.An adaptive robust control method is proposed and consequently verified through simulation experiments.It is proved that the system fully obeys the avoidance-tracking-constraint and strictly obeys the striking-arrival constraint under the control input.Besides,the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the battlefield.Overall,this paper reduced the delay of signal transmission in the system while solved the avoidance-striking-arrival problem. 展开更多
关键词 Adaptive robust control Multivariable tank system Uncertainty Constraint following Avoidance-striking-arrival
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Improved Hybrid Robust Control Method for the Electromechanical Actuator in Aircrafts 认领 引用 被引量：9
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作者 LU Hao LI Yunhu +1 位作者 TIAN Shengli NIE Zhenjin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS 2010年第4期443-450,共8页
In the flight process of aircrafts, their electromechanical actuators（EMA） must have the ability of enduring uncertainties caused by factors such as load disturbance, the variation of work temperature and the EMA＇s... In the flight process of aircrafts, their electromechanical actuators（EMA） must have the ability of enduring uncertainties caused by factors such as load disturbance, the variation of work temperature and the EMA＇s nonlinearity. At present, in order to increase the EMA＇s robustness on the uncertainties, the H, control method has been applied in aircrafts. The major problems with standard H∞ control lie in the large overshoot of step response and the high orders of the controller. For the purpose of addressing the two problems, this paper investigates several kinds of robust control strategies of the EMA. A mathematical model of the EMA is first built, and then with MATLAB software a H∞ controller and an improved hybrid robust controller composed of a reduced order H∞controller and a lead compensator are designed. In order to make a scientific comparison of the control effects of H∞ controller, hybrid controller and classic proportion-integral-differential（PID） controller, a simulation research is made in respect of the open loop frequency response and the closed loop step response of the three controllers. For comparing the robustness of the three controllers, the load torque is entered as a disturbance and the disturbance response of error and control input are thus obtained. The experiments with the three controllers are also conducted. Through giving the EMA a command and a disturbance torque successively, the transient response and disturbing process of EMA are recorded. The simulation and experiment results show that with the help of the hybrid controller, the EMA not only guarantees good dynamic characteristics, but also has strong robustness of disturbance rejection. Therefore, the excogitated H∞ hybrid control method effectively solves the problem of large overshoot in dynamic response, and moderately meets the requirement of overcoming the uncertainties in the EMA of aircrafts. 展开更多
关键词 aircrafts electromechanical actuator H∞ control hybrid robust control disturbance rejection
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High dynamic output feedback robust control of cascaded extended state observer 认领 引用 被引量：8
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作者 Wenxiang DENG Jianyong YAO +1 位作者 Zongxia JIAO Xiaochao LIU 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第7期300-309,共10页
High dynamic tracking performance is a key technical index of hydraulic flight motion simulator(HFMS).However,the strong nonlinearities,various model uncertainties and measurement noise in hydraulic actuation systems ... High dynamic tracking performance is a key technical index of hydraulic flight motion simulator(HFMS).However,the strong nonlinearities,various model uncertainties and measurement noise in hydraulic actuation systems limit the high dynamic performance improvement.In this paper,the outer axis frame of a HFMS is taken as a case study and its nonlinear dynamic model with consideration of strong nonlinearities,matched and mismatched uncertainties is established.A novel cascaded extended state observer(ESO)is proposed to estimate the unavailable system states to avoid the adverse effect of measurement noise on control performance.Meanwhile,the designed cascaded ESO also produces estimates of matched and mismatched uncertainties.Then,an output feedback robust controller(OFRC)is proposed by integrating the cascaded ESO with a robust integral of the sign of the error(RISE)feedback based on the backstepping framework.The proposed controller achieves compensation of both matched and mismatched model uncertainties in an output feedback form.Theoretical analysis indicates that the proposed OFRC ensures the boundedness of all closed-loop system signals in the presence of matched and mismatched timevarying model uncertainties.Excellent asymptotic tracking performance can also be obtained when the model uncertainties are time-invariant.Comparative experimental results show that the proposed OFRC achieves significant performance improvement compared with the extensively employed PI control with velocity feedforward(VFPI). 展开更多
关键词 Flight motion simulator High dynamic tracking Hydraulic actuator Observer Output feedback Robust control
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Constrained Moving Path Following Control for UAV With Robust Control Barrier Function 认领 引用 被引量：7
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作者 Zewei Zheng Jiazhe Li +1 位作者 Zhiyuan Guan Zongyu Zuo 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第7期1557-1570,共14页
This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with re... This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments. 展开更多
关键词 Moving path following(MPF) robust control barrier function safety margin shipboard landing unmanned aerial vehicle(UAV)
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Delay-dependent robust control for uncertain discrete singular systems with time-varying delay 认领 引用 被引量：5
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作者 Hui-jiao WANG Xiao-dong ZHAO +1 位作者 An-ke XUE Ren-quan LU 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS 2008年第8期1034-1042,共9页
The design problem of delay-dependent robust control for uncertain discrete singular systems with time-varying delay is addressed in this paper. The uncertainty is assumed to be norm-bounded. By establishing a finite ... The design problem of delay-dependent robust control for uncertain discrete singular systems with time-varying delay is addressed in this paper. The uncertainty is assumed to be norm-bounded. By establishing a finite sum inequality based on quadratic terms, a new delay-dependent robust stability condition is derived and expressed in terms of linear matrix inequalities (LMIs). A suitable robust state feedback control law is presented, which guarantees that the resultant closed-loop system is regular, causal and stable for all admissible uncertainties. Numerical examples are given to demonstrate the applicability of the proposed method. 展开更多
关键词 Uncertain discrete singular system Time-varying delay Robust control Linear matrix inequality （LMI）
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Robust Control for Uncertain Nonlinear Feedback Systems Using Operator-based Right Coprime Factorization 认领 引用 被引量：6
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作者 Ni Bu Wei Chen +1 位作者 Longguo Jin Yandong Zhao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第3期824-829,共6页
The robust control issue for uncertain nonlinear system is discussed by using the method of right coprime factorization.As it is difficult to obtain the inverse of the right factor due to the high nonlinearity,the pro... The robust control issue for uncertain nonlinear system is discussed by using the method of right coprime factorization.As it is difficult to obtain the inverse of the right factor due to the high nonlinearity,the proving of the Bezout identity becomes troublesome.Therefore,two sufficient conditions are derived to manage this problem with the nonlinear feedback system as well as that with the uncertain nonlinear feedback system under the definition of Lipschitz norm.A simulation of temperature control is given to demonstrate the validity of the proposed method. 展开更多
关键词 Bezout identity nonlinearity right coprime factorization(RCF) robust control
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Robust Control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under Wave Disturbances 认领 引用 被引量：5
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作者 潘立鑫 金鸿章 王琳琳 《China Ocean Engineering》 SCIE EI 2011年第2期251-263,共13页
In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and im... In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 展开更多
关键词 wave disturbances roll stabilization robust control zero-speed fin stabilizer
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Adaptive robust control of mobile satellite communication system with disturbance and model uncertainties 认领 引用 被引量：3
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作者 Jun Jiang Jian Guo +1 位作者 Bin Yao Qingwei Chen 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第5期761-767,共7页
The tracking and stable control of a typical shipmounted mobile satellite communication system（MSCS） is studied.Unlike the former studies based on simplified single-axis models,a tri-axis nonlinear model including t... The tracking and stable control of a typical shipmounted mobile satellite communication system（MSCS） is studied.Unlike the former studies based on simplified single-axis models,a tri-axis nonlinear model including the kinematic and dynamic features of the MSCS is used as the control object.An adaptive robust controller with trajectory planning is designed to deal with large parametric uncertainties and uncertain nonlinearities of the system.A theoretic performance result is given and proved.The designed adaptive robust controller and other two traditional controllers are tested in the comparative simulations under three different situations.The simulation results show the tracking and stable validity of the proposed controller. 展开更多
关键词 ship-mounted mobile satellite communication system adaptive control robust control tracking control
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Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles 认领 引用 被引量：8
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作者 罗伟林 邹早建 《China Ocean Engineering》 SCIE EI 2007年第2期281-292,共12页
A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combin... A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded （UUB） stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations. 展开更多
关键词 underwater vehicle trajectory tracking robust control neural network
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Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation 认领 引用 被引量：25
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作者 YAO Jianyong JIAO Zongxia YAO Bin 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2012年第6期954-962,共9页
Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t... Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy. 展开更多
关键词 electro-hydraulic load simulator robust control friction compensation feedback linearization LuGre model nonlinear control state estimation
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LMI-based robust control of uncertain discrete-time piecewise affine systems 认领 引用 被引量：11
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作者 Zhiyuan LIU Yahui GAO Hong CHEN 《控制理论与应用（英文版）》 2010年第4期496-502,共7页
The main contribution of this paper is to present stability synthesis results for discrete-time piecewise affine （PWA） systems with polytopic time-varying uncertainties and for discrete-time PWA systems with norm-bo... The main contribution of this paper is to present stability synthesis results for discrete-time piecewise affine （PWA） systems with polytopic time-varying uncertainties and for discrete-time PWA systems with norm-bounded uncertainties respectively.The basic idea of the proposed approaches is to construct piecewise-quadratic （PWQ） Lyapunov functions to guarantee the stability of the closed-loop systems.The partition information of the PWA systems is taken into account and each polytopic operating region is outer approximated by an ellipsoid,then sufficient conditions for the robust stabilization are derived and expressed as a set of linear matrix inequalities （LMIs）.Two examples are given to illustrate the proposed theoretical results. 展开更多
关键词 Discrete-time systems Linear matrix inequality Piecewise affine systems Piecewise Lyapunov function Robust control
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Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems 认领 引用 被引量：9
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作者 Longsheng Chen Qi Wang 《IEEE/CAA Journal of Automatica Sinica》 EI 2016年第1期105-112,共8页
In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multi-output (MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unkno... In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multi-output (MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unknown external disturbance based on backstepping technique. The MIMO non-affine system is first transformed into a time-varying system with strict feedback structure using the mean value theorem, and then the bounded time-varying parameters are estimated by adaptive algorithms with projection. To handle the possible 'controller singularity' problem caused by unknown control direction, a Nussbaum function is employed, and the dynamic surface control (DSC) method is applied to solve the problem of 'explosion of complexity' in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through Lyapunov stability theorem and decoupled backstepping method. Simulation results are presented to illustrate the effectiveness of the proposed control scheme. © 2014 Chinese Association of Automation. 展开更多
关键词 Adaptive algorithms Backstepping Closed loop control systems Closed loop systems Functions Nonlinear systems Robust control Time varying systems Uncertainty analysis
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Generalized Internal Model Robust Control for Active Front Steering Intervention 认领 引用 被引量：10
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作者 WU Jian ZHAO Youqun +2 位作者 JI Xuewu LIU Yahui ZHANG Lipeng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2015年第2期285-293,共9页
Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in orde... Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller. 展开更多
关键词 active front steering system generalized internal model robust control H_∞ optimization PID split-μ road
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