Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering最新文献_第3页

Observer-based adaptive fuzzy control of stabilized platform in rotary steerable system with input saturation and output constraint 具有输入饱和度和输出约束的旋转转向系统中稳定平台的基于观测器的自适应模糊控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-07-25 DOI: 10.1177/09596518241256144

Min Wan, Jiaru Song, Guorong Wang

引用次数: 0

Adaptive trajectory tracking control of underwater salvage vehicle based on full-state constraint 基于全状态约束的水下打捞器自适应轨迹跟踪控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-07-25 DOI: 10.1177/09596518241262503

Wenyi Tan, Yan Zhang, Qiang Zhang, Yancai Hu, Yang Liu

引用次数: 0

Fixed-time disturbance observer-based funnel control for controllable excitation linear synchronous motor with state constraints 基于固定时间扰动观测器的漏斗控制，用于带状态约束的可控励磁线性同步电机

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-07-25 DOI: 10.1177/09596518241256701

Zelai Xu, Yipeng Lan, Cheng Lei

{"title":"Fixed-time disturbance observer-based funnel control for controllable excitation linear synchronous motor with state constraints","authors":"Zelai Xu, Yipeng Lan, Cheng Lei","doi":"10.1177/09596518241256701","DOIUrl":"https://doi.org/10.1177/09596518241256701","url":null,"abstract":"This paper proposes a fixed-time disturbance observer-based funnel control method for a controllable excitation linear synchronous motor (CELSM) with state constraints and disturbances. This approach simultaneously resolves the issues of prescribed tracking performance and state constraints, taking into account disturbances. We employ a fixed-time disturbance observer (DO) to estimate both matched and mismatched disturbances. Additionally, we design a modified funnel variable to confine the tracking error within a prescribed region and the singularity problem is avoided. An integral barrier Lyapunov function (iBLF) is utilized to directly tackle state constraints. Furthermore, we employ a fixed-time differentiator (FTD) to address the “explosion of complexity” issue in backstepping control. Theoretical analysis demonstrates that the tracking error asymptotically converges to the origin within a prescribed region while satisfying state constraints. Finally, simulation results demonstrate the efficacy of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"5 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Finite time non-singular terminal synergistic control of hydraulic servo system considering time-varying disturbance 考虑时变扰动的液压伺服系统的有限时间非矢量终端协同控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-06-24 DOI: 10.1177/09596518241256016

Xin Zhou, Zhangbao Xu, Xu Yang

{"title":"Finite time non-singular terminal synergistic control of hydraulic servo system considering time-varying disturbance","authors":"Xin Zhou, Zhangbao Xu, Xu Yang","doi":"10.1177/09596518241256016","DOIUrl":"https://doi.org/10.1177/09596518241256016","url":null,"abstract":"This paper introduces a novel control strategy combining a hybrid nonlinear disturbance observer with a finite-time synergistic control approach for hydraulic servo systems, focusing on compensating time-varying disturbances and suppresses chattering. Recognizing the critical challenges posed by these disturbances and the chattering phenomenon in hydraulic servo systems, our work offers significant advancements in enhancing system robustness and control precision. Through meticulous classification and handling of matched and unmatched disturbances, the study unveils a dual-channel finite-time disturbance observer capable of simultaneously addressing both disturbance types with high accuracy, particularly focusing on the often overlooked and challenging to observe friction effects. Key contributions include the pioneering integration of cooperative control theory with sliding mode control, employing fractional-order terms to minimize chattering, thereby improving system stability. The experimental evaluation underlines the proposed controller’s superior performance over traditional control strategies, including PID, TSMC, and SMC, under both low and high-frequency operational conditions. Notably, the proposed FTNTSC controller demonstrates exceptional robustness and effectiveness, with significantly lower performance degradation when transitioning from low to high-frequency conditions compared to its counterparts.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"9 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141505448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An iterative interval estimation approach to nonlinear discrete-time systems 非线性离散时间系统的迭代区间估计方法

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-05-31 DOI: 10.1177/09596518241249876

Tu Zhang, Guobao Zhang, Yongming Huang

引用次数: 0

Maintenance and transformation method for a multi-AUV dense formation 多 AUV 密集编队的维护和改造方法

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-30 DOI: 10.1177/09596518241245162

Kuo Chen, Jin Zhang, Jiancheng Yu

{"title":"Maintenance and transformation method for a multi-AUV dense formation","authors":"Kuo Chen, Jin Zhang, Jiancheng Yu","doi":"10.1177/09596518241245162","DOIUrl":"https://doi.org/10.1177/09596518241245162","url":null,"abstract":"Accurate formation maintenance and safe formation transformations are significant challenges for multiple autonomous underwater vehicle (multi-AUV) dense formations. To address these problems, an innovative control method for a multi-AUV dense formation is proposed. First, a model predictive controller (MPC) that considers AUV input constraints and external disturbances is designed such that a multi-AUV dense formation can accurately maintain a desired formation while tracking a reference trajectory. After that, at the kinematics level, an optimal path for a safe and efficient multi-AUV dense formation transformation is generated based on the Hungarian method. Furthermore, considering an underactuated and nonlinear AUV dynamics model at the dynamics level, a potential function based on collision avoidance is established. It is added to the MPC objective function to further guarantee the potential of the formation transformation. Finally, a multi-AUV dense formation maintenance simulation shows that the proposed method can guarantee higher trajectory tracking accuracy than other algorithms. A multi-AUV dense formation transformation simulation shows that the proposed method avoids the occurrence of cross paths and a safe distance between AUVs is always maintained. The above results demonstrate that multi-AUV dense formations can achieve accurate maintenance and safe transformations, and the proposed method is feasible and effective.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"65 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140835803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mean-squared exponential stability of distributed almost periodic sequence for nonlocal space-time discrete shunting inhibitory cellular neural networks with Brownian motions 具有布朗运动的非局部时空离散分流抑制性细胞神经网络的分布式几乎周期序列的均方指数稳定性

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-30 DOI: 10.1177/09596518241246017

Huan Luo, Tianwei Zhang

引用次数: 0

Event-triggered sliding mode control for trajectory tracking of robotic system with signal quantization 信号量化机器人系统轨迹跟踪的事件触发滑模控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-18 DOI: 10.1177/09596518241240179

Hang Gao, Chao Ma, Xiaodong Zhang, Jun Zheng

{"title":"Event-triggered sliding mode control for trajectory tracking of robotic system with signal quantization","authors":"Hang Gao, Chao Ma, Xiaodong Zhang, Jun Zheng","doi":"10.1177/09596518241240179","DOIUrl":"https://doi.org/10.1177/09596518241240179","url":null,"abstract":"This paper deals with robotic systems trajectory tracking problems by designing a new event-triggered sliding mode control (ET-SMC) algorithm with signal quantization. More precisely, an event-triggered control strategy is introduced to the sliding mode control algorithm with robustness to reduce the controller update frequency, so as to reduce the network communication resources consumption and maintain the control accuracy. In addition, the dynamic quantization method is adopted between the controller and the actuator for more communication efficiency. Unlike periodic time-triggered control strategy, a novel event triggering condition which requires no state-dependent variables is discussed for less triggering threshold computations. Furthermore, the minimum interval of adjacent triggering instant based on the new triggering condition can be obtained to avoid the Zeno phenomenon. Finally, simulation results demonstrate the validity of the presented control algorithm and practical experiments with a PHANToM Omni robotic device are given to verify the advanced performances. As a result, the trajectory tracking error is limited within a small range and the control update frequency is evidently reduced.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"22 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140623173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Event-triggered H∞ control for uncertain discrete-time singular systems via sliding mode approach 通过滑模方法实现不确定离散时间奇异系统的事件触发 H∞ 控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-18 DOI: 10.1177/09596518241236976

Ying Su, Dongmei Yang, Junchao Ren

引用次数: 0

Adaptive prescribed performance tracking control for uncertain nonlinear systems with unknown backlash-like hysteresis 具有未知反冲滞后的不确定非线性系统的自适应规定性能跟踪控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-04-15 DOI: 10.1177/09596518241236978

Wei Zhao, Shan-Liang Zhu, Ya-Feng Zhou, Yu-Qun Han, Wen-Wu Wang, Qing-Hua Zhou

{"title":"Adaptive prescribed performance tracking control for uncertain nonlinear systems with unknown backlash-like hysteresis","authors":"Wei Zhao, Shan-Liang Zhu, Ya-Feng Zhou, Yu-Qun Han, Wen-Wu Wang, Qing-Hua Zhou","doi":"10.1177/09596518241236978","DOIUrl":"https://doi.org/10.1177/09596518241236978","url":null,"abstract":"In this paper, an adaptive prescribed performance tracking control(PPTC) problem of uncertain nonlinear systems with unknown hysteresis input is investigated. For the purpose of implementing the PPTC, a performance function and an error conversion function are introduced. Moreover, a backlash-like hysteresis model is adopted to describe the hysteresis nonlinearity, which makes the controller design feasible. Additionally, by converting the backlash-like hysteresis model into a linear model with bounded error, the difficulties caused by hysteresis behavior on controller design are settled. Thus, integrating multi-dimensional Taylor network(MTN) approximation technique into adaptive backstepping method, an adaptive control scheme for uncertain nonlinear systems is proposed. Apart from ensuring that all signals of the closed-loop system keep bounded, the proposed control scheme not only makes the tracking error converge to an arbitrarily small neighborhood around the origin, but also guarantees the tracking error trajectory within the limits set by PPTC. Ultimately, two simulations are applied to verify the validity of the proposed control scheme.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 2 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0