Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering最新文献_第4页

Design of two-degree-of-freedom position tracking controller for hypergravity unidirectional airborne shaking table 为超重力单向机载振动台设计两自由度位置跟踪控制器

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 : 2024-04-10 DOI: 10.1177/09596518241241547

Zhu Yang, Haibo Xie

{"title":"Design of two-degree-of-freedom position tracking controller for hypergravity unidirectional airborne shaking table","authors":"Zhu Yang, Haibo Xie","doi":"10.1177/09596518241241547","DOIUrl":"https://doi.org/10.1177/09596518241241547","url":null,"abstract":"Hypergravity centrifugal shaking table is widely used in the field of civil engineering and is considered to be the most effective means to study geotechnical earthquake disaster effect in the world today. Here, the structure of hypergravity centrifugal shaking table system is briefly introduced, and then the necessity and difficulty of the precise control of the position ring of the airborne shaking table in the hypergravity centrifugal shaking table are explained. On this premise, the system modeling and analysis of the unidirectional airborne shaking table with hypergravity are carried out in this paper. A new two-degree-of-freedom controller of the unidirectional airborne shaking table with hypergravity is designed by combining the [Formula: see text] control and an improved internal model control (IIMC) strategy, and the designed two-degree-of-freedom controller is experimentally verified. The experimental results show that compared with the traditional PID control strategy and the single [Formula: see text] control strategy, the two-degree-of-freedom controller designed in this paper can make the position loop control of the unidirectional airborne shaking table with hypergravity have higher control accuracy and anti-interference ability.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"192 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564575","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

Reinforcement learning-based adaptive tracking control for mismatched non-affine nonlinear systems with coupled uncertainties 基于强化学习的自适应跟踪控制，适用于具有耦合不确定性的不匹配非参数非线性系统

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 : 2024-04-10 DOI: 10.1177/09596518241240157

Zheng Wang, Yuxuan Chang, Jiali Liu

{"title":"Reinforcement learning-based adaptive tracking control for mismatched non-affine nonlinear systems with coupled uncertainties","authors":"Zheng Wang, Yuxuan Chang, Jiali Liu","doi":"10.1177/09596518241240157","DOIUrl":"https://doi.org/10.1177/09596518241240157","url":null,"abstract":"This paper studies a reinforcement learning-based adaptive non-affine tracking control method for a class of uncertain mismatched non-affine nonlinear systems. The considered system is not only affected by external mismatched disturbances and internal uncertainties, but also influenced by the non-affine control structures. Firstly, an auxiliary integral system is developed for the purpose of isolating the non-affine control input. Secondly, by designing the actor-critic networks to evaluate the system control performance and generate the reinforcement signal, the unknown internal uncertainties can be handled. Thirdly, based on the output of reinforcement learning network, several disturbance compensation laws are constructed to address the adverse impact of matched and mismatched disturbances. As a result, a novel intelligent adaptive non-affine controller is proposed by integrating actor-critic reinforcement learning framework, disturbance compensation and adaptive laws. It has been proved that closed-loop system are stable and the tracking errors are bounded. The numerical simulation results show the effectiveness and superiority of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"58 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564699","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

Investigation of Legendre polynomials expanded adaptive controller with inverse compensation for high frequency tracking of electro-hydraulic force systems 带反向补偿的 Legendre 多项式扩展自适应控制器用于电液力系统高频跟踪的研究

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 : 2024-04-10 DOI: 10.1177/09596518241242969

Yu Tang, Kaidong Bo, Gang Shen, Zhencai Zhu, Hui Xie, Zhiyuan Shi

{"title":"Investigation of Legendre polynomials expanded adaptive controller with inverse compensation for high frequency tracking of electro-hydraulic force systems","authors":"Yu Tang, Kaidong Bo, Gang Shen, Zhencai Zhu, Hui Xie, Zhiyuan Shi","doi":"10.1177/09596518241242969","DOIUrl":"https://doi.org/10.1177/09596518241242969","url":null,"abstract":"Accurate force tracking of an electro-hydraulic force system (EHFS) is of great significance in various industrial applications. As the EHFS is inevitably confronted with hydraulic nonlinearities, dynamic variations and uncertain disturbances, the real-time force tracking performance is generally unsatisfactory, especially for high frequency command force signals. For reducing the force tracking error with relatively high frequency inputs, a Legendre polynomials expanded adaptive controller with inverse compensation is proposed in this paper. The proposed controller is constructed by introducing an offline designed inverse compensation (IC) controller and an online adaptive controller to the EHFS governed by traditional Proportional Integral (PI) controller, in which the former IC controller is acting as the inner loop controller and the latter adaptive controller is regarded as an outer controller. The inner loop IC controller with fixed control parameters is offline designed on the basis of traditional PI controller by means of the generalized projection identification algorithm and the zero magnitude error tracking technology, focusing on extending the real-time force tracking bandwidth of the EHFS. The outer loop online adaptive controller is developed by Legendre polynomials expanded adaptive filters with nonlinear mapping ability, whose weights are online updated by an adaptive tuning algorithm with the aim of handling system’s dynamic variations, nonlinearities and uncertain disturbances. The proposed controller is implemented on a real EHFS test rig by the xPC/Target rapid prototyping technique, and comparative experimental results demonstrate that the proposed controller can achieve much higher high frequency tracking performance than the traditional PI and IC controller commonly used in industry.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"91 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564697","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

Passive observer-based controller design for a class of Lipschitz nonlinear time-varying systems with application to Hepatitis B disease 基于被动观测器的一类 Lipschitz 非线性时变系统控制器设计及其在乙型肝炎疾病中的应用

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 : 2024-04-08 DOI: 10.1177/09596518241236925

Shaghayegh Gorji, Ahmad Fakharian, Rezvan Abbasi

引用次数: 0

State estimation based actuator fault detection for tandem rotor helicopter with experimental validation 基于状态估计的串联旋翼直升机作动器故障检测及实验验证

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 : 2024-04-06 DOI: 10.1177/09596518241240185

Pengcheng Yang, Yuxue Li, Xiaoyuan Zhu

引用次数: 0

Bearing fault diagnosis based on data missing and feature shift suppression strategy 基于数据缺失和特征转移抑制策略的轴承故障诊断

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 : 2024-04-06 DOI: 10.1177/09596518241237080

Yunji Zhao, Jun Xu

{"title":"Bearing fault diagnosis based on data missing and feature shift suppression strategy","authors":"Yunji Zhao, Jun Xu","doi":"10.1177/09596518241237080","DOIUrl":"https://doi.org/10.1177/09596518241237080","url":null,"abstract":"To mitigate the impact of fault iconic feature shift and feature missing due to missing data values on bearing fault diagnosis, this paper proposes a fault diagnosis method based on a spatial frequency filter and a Multi-Scale feature recombination calibration network (MSRCN). First, the fault features are converted into frequency band features and feature enhancement is realized using Mel filters to weaken the effect of fault feature offset. Then, the spatial calibration module (SC) in the MSRCN is utilized to further improve the fault feature distribution and eliminate the fault feature offset problem. Next, to solve the fault feature missing problem, the remaining fault features are sampled by multi-scale reorganization using MSRCN to obtain new fault features, which overcomes the effect of fault feature missing on fault diagnosis. Finally, experiments are conducted on CWRU and XJTU-SY rolling bearing datasets to verify that the algorithm can effectively solve the fault feature offset and missing problem. Meanwhile, the experimental results prove that the algorithm proposed in this paper can realize high-precision fault diagnosis.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"101 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564490","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

Robust H∞ control of heterogeneous connected vehicles platoon with random time-varying communication delay 具有随机时变通信延迟的异构互联车辆排的鲁棒 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 : 2024-04-04 DOI: 10.1177/09596518241236980

Shuangkun Ru, Xiaohong Jiao

引用次数: 0

Observer-based finite-time H∞ control for discrete-time singular Markovian jump systems with asynchronous modes 对具有异步模式的离散时奇异马尔可夫跳跃系统的基于观测器的有限时间 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 : 2024-04-02 DOI: 10.1177/09596518241241543

Yixu Zhao, Yunliang Wei, Wenhai Qi, Fei Wang

引用次数: 0

Efficiency assessment of SOA-based computed torque control: A comparative analysis with NE-based approach 基于 SOA 的计算扭矩控制的效率评估：与基于 NE 方法的比较分析

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 : 2024-04-02 DOI: 10.1177/09596518241238414

Tugce Yaren, Selcuk Kizir

{"title":"Efficiency assessment of SOA-based computed torque control: A comparative analysis with NE-based approach","authors":"Tugce Yaren, Selcuk Kizir","doi":"10.1177/09596518241238414","DOIUrl":"https://doi.org/10.1177/09596518241238414","url":null,"abstract":"This paper proposes the spatial operator algebra-based computed torque control scheme applied to an anthropomorphic 3-degree of freedom robotic manipulator, which aims to reduce the computational cost of the classical methods and integrate the advantages of low computational cost into advanced robotic control systems. The computational cost is increased due to the calculations of the inverse dynamic and the feedback control loop. The spatial operator algebra (SOA) algorithm provides a systematic derivation, evaluation, and subsequent conceptual interpretation of the manipulator dynamics model. This paper presents a powerful and efficient solution for controlling the dynamics and trajectory of the manipulator. In order to show the efficiency of the solution, the Newton Euler (NE) based control schemes are also applied to the manipulator. The SOA-based controller significantly reduced the computational cost and performed approximately 60%–70% faster than the NE-based controller. Furthermore, different initial states, disturbances, and uncertainty tests are implemented and the SOA-based controller demonstrated successful performance under various conditions while maintaining a lower computational cost. In this study, the advantages and limitations of each method (SOA-based, NE-based) are evaluated and the potential benefits of using SOA in the computed torque control scheme are highlighted. The SOA-based controller, which was verified by simulation, is then implemented in real-time and showed successful performance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"13 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140597033","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

Asynchronous event-triggered guaranteed cost control of uncertain 2-D Markov jump Roesser systems with actuator saturation 具有致动器饱和度的不确定二维马尔可夫跃迁罗赛尔系统的异步事件触发保证成本控制

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 : 2024-04-01 DOI: 10.1177/09596518241238415

Jiazheng Liu, Yang Yang, Yaru Song

{"title":"Asynchronous event-triggered guaranteed cost control of uncertain 2-D Markov jump Roesser systems with actuator saturation","authors":"Jiazheng Liu, Yang Yang, Yaru Song","doi":"10.1177/09596518241238415","DOIUrl":"https://doi.org/10.1177/09596518241238415","url":null,"abstract":"This paper investigates the asynchronous event-triggered guaranteed cost control problem for two-dimensional Markov jump Roesser systems with parameter uncertainties and actuator saturation. The hidden Markov model is constructed to characterize the asynchronous phenomenon induced by the mode mismatch between the system and the controller, and a hidden Markov model-based event-triggered mechanism is adopted in controller design to save communication resources. The convex hull representation is employed to process saturated inputs. By using the quadratic Lyapunov function methods and linear matrix inequality techniques, some sufficient criteria are developed to guarantee the asymptotic stability of the addressed system with a guaranteed cost under three different boundary conditions. Finally, a convex optimization algorithm with linear matrix inequality constraints is proposed to design the optimal asynchronous event-triggered guaranteed cost controller, and a numerical example is considered to demonstrate its validity.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"13 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140597025","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