基于观测器的非线性二阶系统输入约束控制与稳定性分析:杠杆臂实验

IF 1.5 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC
{"title":"基于观测器的非线性二阶系统输入约束控制与稳定性分析:杠杆臂实验","authors":"","doi":"10.1007/s40998-024-00713-1","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>In this survey, the stability of input-constrained control for a widely used class of second-order systems is investigated. A continuous prediction-based approach is utilized to calculate the limited current control input by minimizing the next tracking error of nonlinear second-order system. The Karush–Kuhn–Tucker theorem is used to analytically solve the resulting constrained optimization problem. The constrained stability is analyzed by equating the constrained solution with the solution obtained from an optimal controller with time-varying weight on the control input. The proposed constrained controller adapts itself to real conditions by using information about the perturbations obtained from an extended state observer (ESO). Simulation studies for a lever arm indicates that the constrained controller presented in the closed form is much faster than the common nonlinear model predictive control method which requires an online dynamic optimization at each sampling time. Accordingly, experimental implementation of the proposed controller is conducted on a fabricated platform consisting of a lever arm. The results show that the proposed constrained controller can successfully track different time-varying positions for the arm by admissible torques generated by a DC motor. The comparative results with an adaptive backstepping controller indicate higher performance for the proposed ESO-based controller in compensating for the perturbations and external disturbance.</p>","PeriodicalId":49064,"journal":{"name":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Novel Observer-Based Input-Constrained Control of Nonlinear Second-Order Systems with Stability Analysis: Experiment on Lever Arm\",\"authors\":\"\",\"doi\":\"10.1007/s40998-024-00713-1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<h3>Abstract</h3> <p>In this survey, the stability of input-constrained control for a widely used class of second-order systems is investigated. A continuous prediction-based approach is utilized to calculate the limited current control input by minimizing the next tracking error of nonlinear second-order system. The Karush–Kuhn–Tucker theorem is used to analytically solve the resulting constrained optimization problem. The constrained stability is analyzed by equating the constrained solution with the solution obtained from an optimal controller with time-varying weight on the control input. The proposed constrained controller adapts itself to real conditions by using information about the perturbations obtained from an extended state observer (ESO). Simulation studies for a lever arm indicates that the constrained controller presented in the closed form is much faster than the common nonlinear model predictive control method which requires an online dynamic optimization at each sampling time. Accordingly, experimental implementation of the proposed controller is conducted on a fabricated platform consisting of a lever arm. The results show that the proposed constrained controller can successfully track different time-varying positions for the arm by admissible torques generated by a DC motor. The comparative results with an adaptive backstepping controller indicate higher performance for the proposed ESO-based controller in compensating for the perturbations and external disturbance.</p>\",\"PeriodicalId\":49064,\"journal\":{\"name\":\"Iranian Journal of Science and Technology-Transactions of Electrical Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2024-03-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Iranian Journal of Science and Technology-Transactions of Electrical Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s40998-024-00713-1\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s40998-024-00713-1","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0

摘要

摘要 本文研究了一类广泛使用的二阶系统的输入约束控制稳定性。本文采用基于连续预测的方法,通过最小化非线性二阶系统的下一次跟踪误差来计算有限的电流控制输入。卡鲁什-库恩-塔克定理用于分析求解由此产生的约束优化问题。通过将约束解与控制输入权重随时间变化的最优控制器求得的解等同起来,对约束稳定性进行了分析。通过使用从扩展状态观测器(ESO)中获得的有关扰动的信息,所提出的受约束控制器可使自身适应实际条件。对杠杆臂的仿真研究表明,闭合形式的约束控制器比普通的非线性模型预测控制方法要快得多,后者需要在每次采样时进行在线动态优化。因此,我们在一个由杠杆臂组成的制造平台上对所提出的控制器进行了实验实施。结果表明,所提出的约束控制器可以通过直流电机产生的可接受转矩成功跟踪杠杆臂的不同时变位置。与自适应反步进控制器的比较结果表明,基于 ESO 的控制器在补偿扰动和外部干扰方面具有更高的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Novel Observer-Based Input-Constrained Control of Nonlinear Second-Order Systems with Stability Analysis: Experiment on Lever Arm

Abstract

In this survey, the stability of input-constrained control for a widely used class of second-order systems is investigated. A continuous prediction-based approach is utilized to calculate the limited current control input by minimizing the next tracking error of nonlinear second-order system. The Karush–Kuhn–Tucker theorem is used to analytically solve the resulting constrained optimization problem. The constrained stability is analyzed by equating the constrained solution with the solution obtained from an optimal controller with time-varying weight on the control input. The proposed constrained controller adapts itself to real conditions by using information about the perturbations obtained from an extended state observer (ESO). Simulation studies for a lever arm indicates that the constrained controller presented in the closed form is much faster than the common nonlinear model predictive control method which requires an online dynamic optimization at each sampling time. Accordingly, experimental implementation of the proposed controller is conducted on a fabricated platform consisting of a lever arm. The results show that the proposed constrained controller can successfully track different time-varying positions for the arm by admissible torques generated by a DC motor. The comparative results with an adaptive backstepping controller indicate higher performance for the proposed ESO-based controller in compensating for the perturbations and external disturbance.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
5.50
自引率
4.20%
发文量
93
审稿时长
>12 weeks
期刊介绍: Transactions of Electrical Engineering is to foster the growth of scientific research in all branches of electrical engineering and its related grounds and to provide a medium by means of which the fruits of these researches may be brought to the attentionof the world’s scientific communities. The journal has the focus on the frontier topics in the theoretical, mathematical, numerical, experimental and scientific developments in electrical engineering as well as applications of established techniques to new domains in various electical engineering disciplines such as: Bio electric, Bio mechanics, Bio instrument, Microwaves, Wave Propagation, Communication Theory, Channel Estimation, radar & sonar system, Signal Processing, image processing, Artificial Neural Networks, Data Mining and Machine Learning, Fuzzy Logic and Systems, Fuzzy Control, Optimal & Robust ControlNavigation & Estimation Theory, Power Electronics & Drives, Power Generation & Management The editors will welcome papers from all professors and researchers from universities, research centers, organizations, companies and industries from all over the world in the hope that this will advance the scientific standards of the journal and provide a channel of communication between Iranian Scholars and their colleague in other parts of the world.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信