Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering最新文献_第8页

Adaptive backstepping-extended state observer control for electrohydraulic position servo systems with multiple disturbances using the compound friction compensation 利用复合摩擦补偿对具有多重干扰的电液位置伺服系统进行自适应反步进-扩展状态观测器控制

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 : 2023-12-07 DOI: 10.1177/09596518231209222

Xinxing Zhang, Kaiyu Dai, Bing Zhang, Leigang Wang, Jianbing Yang

{"title":"Adaptive backstepping-extended state observer control for electrohydraulic position servo systems with multiple disturbances using the compound friction compensation","authors":"Xinxing Zhang, Kaiyu Dai, Bing Zhang, Leigang Wang, Jianbing Yang","doi":"10.1177/09596518231209222","DOIUrl":"https://doi.org/10.1177/09596518231209222","url":null,"abstract":"Multiple disturbances coming from friction, matched, and mismatched uncertainties make it difficult for electrohydraulic servosystems to obtain the satisfactory position-tracking performance. The existing adaptive backstepping controllers fail to effectively distinguish the difference of disturbance between the mechanical subsystem and the hydraulic subsystem, which limits the compensation effect of multiple disturbances, especially for friction nonlinearity. Therefore, the adaptive backstepping-extended state observer position-tracking controller combined with compound friction compensation is proposed to simultaneously compensate for the fast-varying friction disturbance of a mechanical subsystem and the slow-varying matched disturbance of a hydraulic subsystem. The extended state observer algorithm is integrated into the adaptive backstepping controller to suppress the null bias of the average tracking error. The compound friction compensation includes a LuGre model-based compensation and a high-order disturbance observer, which can improve the tracking performance of system and avoids the excessive gain of observer. A large number of comparative experiments are conducted to verify the effective of the proposed controller.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"47 20","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138593966","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

Terminal sliding mode control based on recursive stochastic configuration network for ball mill lining replacement process 基于递归随机配置网络的球磨机衬板更换过程的终端滑模控制

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 : 2023-12-01 DOI: 10.1177/09596518231208629

Yunze Tang, Jinghui Qiao, Yuxi Chen

{"title":"Terminal sliding mode control based on recursive stochastic configuration network for ball mill lining replacement process","authors":"Yunze Tang, Jinghui Qiao, Yuxi Chen","doi":"10.1177/09596518231208629","DOIUrl":"https://doi.org/10.1177/09596518231208629","url":null,"abstract":"The precise control of multi-joint manipulators presents significant challenges in the context of replacing internal liners of large grinding machines. These challenges arise due to the uncertainty of system parameters and external disturbance. A terminal sliding mode control based on a recursive stochastic configuration network is proposed to ensure that the system is stable, and it reduces system oscillations in this article. In addition, a disturbance observer based on recursive stochastic configuration network is designed to estimate and compensate for the uncertainties in the system, thereby improving the robustness of the system. To enhance the realism of the simulations, the simulation modeling process incorporated uncertainty parameters and external disturbance information. The simulation results demonstrated the effectiveness of the proposed terminal sliding mode control approach in meeting the practical control requirements. This accomplishment presents a valuable new method for controlling mechanical arms. The method is applicable under conditions of system uncertainty and external disturbance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"15 8","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138627445","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

Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot 基于扰动观测器的 2 自由度液压隧道机器人反步进滑模级联控制

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 : 2023-11-25 DOI: 10.1177/09596518231208650

Guotai Zhang, G. Shen, Yu Tang, Xiang Li

{"title":"Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot","authors":"Guotai Zhang, G. Shen, Yu Tang, Xiang Li","doi":"10.1177/09596518231208650","DOIUrl":"https://doi.org/10.1177/09596518231208650","url":null,"abstract":"For the 2–degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer–based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory performance against the multi-source disturbances, two disturbance observers used to approximately estimate the unknown dynamics in the mechanical and hydraulic subsystem, respectively. Simultaneously, a continuous robustifying term is also utilized to compensate for the residual disturbances and enhance the robustness. The presented control method doesn’t need the precise model thanks to the auxiliary disturbance observer, and can ensure fast convergence and small tracking error thanks to the backstepping sliding cascade control and the adaptive robust compensator. Based on Lyapunov theory, stability of the overall closed-loop system is proved rigorously, and asymptotically bounded tracking performance of the robotic manipulator is guaranteed. Finally, 2–degrees of freedom trajectory tracking experiments are conducted, and comparative results effectively verify the superiorities of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"293 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139236488","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

A data-based fault detection scheme for the stratospheric airship control system 基于数据的平流层飞艇控制系统故障检测方案

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 : 2023-11-15 DOI: 10.1177/09596518231209542

Jichen Hu, Ming Zhu, Zeiwei Zheng, Tian Chen

{"title":"A data-based fault detection scheme for the stratospheric airship control system","authors":"Jichen Hu, Ming Zhu, Zeiwei Zheng, Tian Chen","doi":"10.1177/09596518231209542","DOIUrl":"https://doi.org/10.1177/09596518231209542","url":null,"abstract":"This brief proposed an innovative fault detection method based on analytical data for the stratospheric airship control system. The control system considered is subject to both space disturbance and nonlinear characteristics; the faults of sensors and actuators are all taken into account. The proposed method is developed in two phases. In the first phase, the moving window kernel principal component analysis is employed to construct the fault detection model with the training data under normal operating conditions and update the fault detection model online until abnormal data are detected. Second, a fault detection model updating mechanism is designed to reduce computational complexity and cost with a clustering algorithm, which compounds the mean shift clustering with weighted Euclidean distance to reflect the data density distribution feature to make the updating to be adaptive. Finally, the proposed method is applied to detect fault for an illustrative simulation stratospheric airship control model. The fault detection results validate the effectiveness of proposed fault detection method for different sensor and actuator fault cases. Comparing to some extended moving window kernel principal component analysis method, the proposed method reduces the computational cost significantly.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"105 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139274191","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 resilient H_∞ control for switched systems via multiple non-monotonic Lyapunov functions 基于多个非单调Lyapunov函数的切换系统异步弹性H∞控制

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-10 DOI: 10.1177/09596518231202945

Sicheng Shan, Yanhui Tong, Xiaohang Li, Yuyuan Li

引用次数: 0

Remaining useful life prediction for motor systems by iteratively updated wiener process based on closed-loop performance degradation monitoring 基于闭环性能退化监测的迭代更新维纳过程电机系统剩余使用寿命预测

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-08 DOI: 10.1177/09596518231199770

Xia Wu, Xu Yang, Jian Huang, Kaixiang Peng

引用次数: 0

Angle demand control of steer-by-wire system by disturbance estimation–based generalized predictive control approach 基于扰动估计的线控系统角度需求控制广义预测控制方法

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-08 DOI: 10.1177/09596518231208466

Ziang Xu, Qin Shi, Yujiang Wei, Xinxin Zheng, Chunrong Huang, Lin He

{"title":"Angle demand control of steer-by-wire system by disturbance estimation–based generalized predictive control approach","authors":"Ziang Xu, Qin Shi, Yujiang Wei, Xinxin Zheng, Chunrong Huang, Lin He","doi":"10.1177/09596518231208466","DOIUrl":"https://doi.org/10.1177/09596518231208466","url":null,"abstract":"In this article, a disturbance estimation–based robust generalized predictive control approach is proposed for angle demand control of a steer-by-wire system. It consists of a generalized predictive controller and a nonlinear disturbance observer. First, the nonlinear disturbance observer is used to estimate the effects of the lumped disturbances, including model uncertainties, unmodeled dynamics, and external disturbances. Second, the estimate of the nonlinear disturbance observer is integrated into the generalized predictive controller design for front-wheel angle output prediction. Then, an explicit analytical form of the disturbance estimation–based robust generalized predictive controller is derived. In addition, rigorous stability analysis proves that the closed-loop system under the proposed control is stable. Finally, the developed control approach has been downloaded into a steering control unit and tested in real-world conditions using a vehicle test bench to fully realize steering by wire in engineering practice. Extensive simulations and experiments have been performed, and results show that the proposed control approach outperforms the comparative controllers regarding disturbance rejection, robust tracking performance under model uncertainties, and disturbances.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"35 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135390240","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

Fault detection and identification for rolling mill main drive system based on integrated observer under iterative learning strategy 基于集成观测器迭代学习策略的轧机主传动系统故障检测与识别

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-08 DOI: 10.1177/09596518231203110

Ruicheng Zhang, Zhiwen Li, Weizheng Liang

{"title":"Fault detection and identification for rolling mill main drive system based on integrated observer under iterative learning strategy","authors":"Ruicheng Zhang, Zhiwen Li, Weizheng Liang","doi":"10.1177/09596518231203110","DOIUrl":"https://doi.org/10.1177/09596518231203110","url":null,"abstract":"In this article, the problem of multiple fault detection, isolation and reconfiguration of the rolling mill main drive system containing external disturbances is investigated. Considering the nonlinear frictional damping between the rolls and the rolled parts, a nonlinear mathematical model of the main drive system of the mill is established. A comprehensive fault diagnosis scheme based on observer is addressed for this system subjected to unknown external interference. The proposed scheme is divided into two parts. In the first stage, a set of sliding mode observers is designed for system fault detection, and a fault isolation criterion is proposed based on observer redundancy and generalised residual set theory to reveal the fault source. In the second stage, combined with the iterative learning algorithm, an iterative learning-unknown input observer is constructed to realise the accurate estimation of the fault signal. Unlike the existing fault estimation methods, the iterative learning-unknown input observer designed in this article uses the state estimation error of the previous iteration to estimate the fault signal in the current iteration period. Using [Formula: see text] synthesis to design observers for the system will guarantee fault diagnosis robustness. The Lyapunov theory and linear matrix inequality are introduced to prove the convergence of the proposed observer. The simulation study of a 1780-mm hot strip mill evaluates the proposed scheme. Simulation results demonstrate that the sliding mode observer approach can detect faults in the main drive system and isolate faults accurately. In contrast, the iterative learning-unknown input observer method has the lowest fault reconfiguration error (99.87% smaller than the extended state observer, 99.77% smaller than the unknown input observer) and achieves accurate fault signal tracking.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135391544","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

Design and control of active lower limb prosthesis with sensorial frame 带传感框架的主动下肢假体的设计与控制

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-07 DOI: 10.1177/09596518231204054

Ivan Hernandez, Wen Yu

引用次数: 0

Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles 欠驱动自主水下航行器跟踪控制的自适应非奇异快速终端滑模控制

4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-07 DOI: 10.1177/09596518231204799

Rahul Ranjan Bharti, Santosha K Dwivedy

引用次数: 0