International Journal of Robust and Nonlinear Control最新文献

Improved functional interval observer for mecanum‐wheels omnidirectional automated guided vehicle 改进型全向自动导引车功能间隔观测器

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-18 DOI: 10.1002/rnc.7639

Jun Huang, Changjie Li, Yuan Sun, Tarek Raïssi

引用次数: 0

Prescribed‐time distributed direct estimation under relative state measurements 相对状态测量下的规定时间分布式直接估计

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-18 DOI: 10.1002/rnc.7644

Jin Ke, Ying Li, Tao Xie

引用次数: 0

Nonlinear sliding mode predictive trajectory tracking control of underactuated marine vehicles: Theory and experiment 欠驱动海洋车辆的非线性滑模预测轨迹跟踪控制：理论与实验

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-18 DOI: 10.1002/rnc.7638

Run‐Zhi Wang, Li‐Ying Hao, Zhi‐Jie Wu

引用次数: 0

Nonlinear scenario‐based model predictive control for quadrotors with bidirectional thrust 具有双向推力的四旋翼飞行器的非线性情景模型预测控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-18 DOI: 10.1002/rnc.7627

Jad Wehbeh, Inna Sharf

{"title":"Nonlinear scenario‐based model predictive control for quadrotors with bidirectional thrust","authors":"Jad Wehbeh, Inna Sharf","doi":"10.1002/rnc.7627","DOIUrl":"https://doi.org/10.1002/rnc.7627","url":null,"abstract":"The control of quadrotor vehicles under state and parameter uncertainty is a well studied problem that is vitally important to the deployment of these systems under real world conditions. In this article, we propose a linearization‐based extension to nonlinear systems of the existing scenario model predictive control (MPC) framework, which quantifies the impact of uncertainty on the vehicle dynamics through repeated sampling of the uncertainty space. Given the computational costs of such an approach, we also propose two simplifications of the scenario MPC algorithm that are significantly more tractable. In order to evaluate the performance of the algorithms, the specific problem of the control of a bidirectionally actuated quadrotor vehicle is considered. Simulations are carried out for each scenario MPC scheme as well as for a reference deterministic MPC scheme. When a sufficiently large sample count is considered, each of the scenario MPC algorithms achieves safer performance than the deterministic formulation without sacrificing any optimality. Additionally, the approximate solution techniques conclusively outperform the original nonlinear scenario MPC formulation for the same computational cost.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":null,"pages":null},"PeriodicalIF":3.9,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142268666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Path tracking control of high‐speed intelligent vehicles considering model mismatch 考虑模型失配的高速智能车辆路径跟踪控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-18 DOI: 10.1002/rnc.7640

Zhicheng He, Kailin Zhang, Baolv Wei, Jin Huang, Yufan Wang, Eric Li

{"title":"Path tracking control of high‐speed intelligent vehicles considering model mismatch","authors":"Zhicheng He, Kailin Zhang, Baolv Wei, Jin Huang, Yufan Wang, Eric Li","doi":"10.1002/rnc.7640","DOIUrl":"https://doi.org/10.1002/rnc.7640","url":null,"abstract":"The precision of path tracking in high‐speed intelligent vehicles is significantly influenced by model mismatch arising from factors like parameter uncertainty, model simplification, external disturbances, and other sources. In this paper, we propose a novel robust control strategy that integrates the compensation function observer (CFO) with the model predictive control (MPC) method, utilizing an optimized vehicle dynamics model (opt‐model) to address this challenge, called OCMPC. Initially, we establish the opt‐model to design predictive model by leveraging suspension kinematics and compliance (K&C) data collected from a miniature pure electric vehicle. Remarkably, the opt‐model exhibits improved accuracy compared to the conventional vehicle dynamics model (con‐model) while preserving the same degrees of freedom (DOF). Next, we incorporate CFO into the path tracking process of high‐speed intelligent vehicles, enabling dynamic real‐time observation of the model mismatch between the prediction model and the actual vehicle. CFO can capture the dynamics of the vehicle, including nonlinearities and uncertainties, without placing a heavy computing burden on the controller. This observed mismatch is subsequently employed for feed‐forward compensation, facilitating the attainment of optimal control values. Ultimately, we validate the effectiveness of our proposed method in enhancing path tracking accuracy for high‐speed intelligent vehicles through co‐simulation using Simulink and Carsim.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":null,"pages":null},"PeriodicalIF":3.9,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142268668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Discrete adaptive sliding mode controller design for overhead cranes considering measurement noise and external disturbances 考虑测量噪声和外部干扰的桥式起重机离散自适应滑动模式控制器设计

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-17 DOI: 10.1002/rnc.7637

Huimin Ouyang, Rong Shi, Xiaodong Miao, Hui Yi, Huan Xi

{"title":"Discrete adaptive sliding mode controller design for overhead cranes considering measurement noise and external disturbances","authors":"Huimin Ouyang, Rong Shi, Xiaodong Miao, Hui Yi, Huan Xi","doi":"10.1002/rnc.7637","DOIUrl":"https://doi.org/10.1002/rnc.7637","url":null,"abstract":"Research on the motion control of overhead cranes, constrained by underactuated characteristics, helps improve the efficiency of payload transportation. Most studies require all system state variables (trolley displacement, payload swing angle, and their velocities). In practice, sensors measure and transmit these variables, but noise affects their accuracy, reducing control performance. Additionally, uncertainties in crane parameters, unmodeled friction, and unknown disturbances threaten the system's stability. Traditional methods struggle to address these issues effectively. To address these challenges, this article proposes an adaptive discrete sliding mode control (DSMC) method with a Kalman filter. By extending the state system and considering disturbances as new variables, the Kalman filter effectively eliminates signal noise, accurately estimates disturbances, and estimates system states simultaneously. The proposed method incorporates disturbance compensators into the adaptive DSMC, utilizing exponential terms to suppress oscillations caused by excessively high or low control gains, thus increasing control speed. Experimental comparisons demonstrate the superiority and robustness of the proposed control method under various disturbance conditions.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":null,"pages":null},"PeriodicalIF":3.9,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142268667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 internal model‐based control for linear‐time‐invariant systems 基于模型的线性时变系统鲁棒内部控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-17 DOI: 10.1002/rnc.7643

Atabak Azimi, Stefan Koch, Markus Reichhartinger

引用次数: 0

Dual‐channel observer design for composite disturbances based on characteristic compensation 基于特征补偿的复合干扰双通道观测器设计

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-17 DOI: 10.1002/rnc.7636

Xinyu Wen, Zhihao Wang, Yaling Dong, Ruixian Li

{"title":"Dual‐channel observer design for composite disturbances based on characteristic compensation","authors":"Xinyu Wen, Zhihao Wang, Yaling Dong, Ruixian Li","doi":"10.1002/rnc.7636","DOIUrl":"https://doi.org/10.1002/rnc.7636","url":null,"abstract":"This paper presents a non‐coupled structure of characteristic compensation dual‐channel observer (CCDCO) for handling systems subjected to composite disturbances. There exist an outer disturbance compensation channel (ODCC) and an inner disturbance compensation channel (IDCC) in the design strategy. Specifically, in the ODCC, the proposed frequency characteristic compensation observer (FCCO) extracts and removes the regular periodic components from the composite disturbances, where the estimation error preserves irregular characteristics. Thus, the estimation error of FCCO and irregular parts are treated as lumped terms estimated via compensation function observer (CFO) in the IDCC. As a solving skill for composite disturbances estimation, CCDCO has two important advantages over previous designs. First, the proposed non‐coupled structure explicitly distinguishes disturbance characteristics according to a priori information known or not. Second, by combining the benefits of the CFO and proposed FCCO, different types of disturbances can be estimated accordingly without coupling of each other. Simulation results on the robotic manipulator are provided to validate the effectiveness of the proposed method.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":null,"pages":null},"PeriodicalIF":3.9,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142252591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Attitude determination for multirotor aerial vehicles using a prescribed‐time super‐twisting algorithm 使用规定时间超扭曲算法确定多旋翼飞行器的姿态

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-17 DOI: 10.1002/rnc.7635

João Filipe Silva, Davi A. Santos

{"title":"Attitude determination for multirotor aerial vehicles using a prescribed‐time super‐twisting algorithm","authors":"João Filipe Silva, Davi A. Santos","doi":"10.1002/rnc.7635","DOIUrl":"https://doi.org/10.1002/rnc.7635","url":null,"abstract":"This paper is concerned with the prescribed‐time robust attitude determination (AD) of multirotor aerial vehicles (MAVs) using vector measurements from the local magnetic field and local gravity. To address this problem, we first introduce a novel modified super‐twisting algorithm endowed with the prescribed‐time convergence property. The state of the proposed algorithm is governed by an unbounded time‐varying gain up to the prescribed settling time (PST) and by a function after that. Therefore, after the PST, the new algorithm coincides with the conventional super‐twisting, thus showing robust stability at the origin. This prescribed‐time super‐twisting algorithm (PTSTA) is then applied to the formulation of a three‐stage gyro‐free attitude determination method for MAVs. In the first stage, the classical QUEST algorithm is used to compute a Wahba‐optimal attitude estimate from the vector measurements. In the second stage, the PTSTA is employed in the formulation of a robust state estimator that provides estimates of the attitude Gibbs vector and its rate. Finally, in the third stage, these state estimates as well as the attitude kinematic equation are immediately used to compute the MAV angular velocity. The proposed robust prescribed‐time gyro‐free AD method is evaluated numerically, showing invariance with respect to disturbance and model uncertainty.","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":null,"pages":null},"PeriodicalIF":3.9,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142252590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation 基于关节扭矩估计和摩擦补偿的机器人机械手自适应快速终端滑模控制

IF 3.9 3区计算机科学

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-13 DOI: 10.1002/rnc.7624

Shunjing Hu, Yi Wan, Xichang Liang

引用次数: 0