In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(M...In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.展开更多
This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater ve...This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.展开更多
In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six de...In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.展开更多
提出一种dq坐标系下静止无功发生器的自抗扰解耦控制方法。首先针对静止无功发生器(static var generator,SVG)非线性、强耦合的特点,建立并设计基于自抗扰技术的多变量解耦控制系统。其次,为克服一般控制算法难以解决的高频振荡和滤波...提出一种dq坐标系下静止无功发生器的自抗扰解耦控制方法。首先针对静止无功发生器(static var generator,SVG)非线性、强耦合的特点,建立并设计基于自抗扰技术的多变量解耦控制系统。其次,为克服一般控制算法难以解决的高频振荡和滤波效果差的问题,设计最速控制综合函数作为跟踪微分器。另外设计自抗扰线性和非线性两种控制器,并与PI控制算法进行比较,通过Matlab仿真和样机实验,验证了所设计的基于非线性自抗扰技术的多变量解耦控制算法可实现SVG输出电流在dq轴下的解耦,使系统具有较快的动态响应和较强的鲁棒性及抗干扰性,尤其具有单参数调节和无超调的优良性能。展开更多
针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器(Extended state observer,ESO),使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗...针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器(Extended state observer,ESO),使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗扰控制(Active disturbance rejection control,ADRC)方法,该惯性串联型ADRC方法可以充分利用被控对象的已有知识.论文还给出了惯性串联型ADRC和基于扰动观测器(Disturbance observer,DOB)的控制方法之间的联系,指出它们具有相同的三自由度(three-degree of freedom control,3-DOF)控制系统结构和模块功能,都能实现对系统期望模型以外的总扰动进行估计和补偿.仿真结果表明,所提出的方法是有效的,惯性串联型ESO能实现系统总扰动的估计,惯性串联型ADRC能使系统输出能很好地跟踪系统参考输入.展开更多
基金supported by the Scientific Research Innovation Development Foundation of Army Engineering University((2019)71).
文摘In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.
基金supported by the National Natural Science Foundation of China (6197317561973172)Tianjin Natural Science Foundation (19JCZDJC32800)。
文摘This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.
基金supported by the National Natural Science Foundation of China(61973175,61973172)。
文摘In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.
文摘提出一种dq坐标系下静止无功发生器的自抗扰解耦控制方法。首先针对静止无功发生器(static var generator,SVG)非线性、强耦合的特点,建立并设计基于自抗扰技术的多变量解耦控制系统。其次,为克服一般控制算法难以解决的高频振荡和滤波效果差的问题,设计最速控制综合函数作为跟踪微分器。另外设计自抗扰线性和非线性两种控制器,并与PI控制算法进行比较,通过Matlab仿真和样机实验,验证了所设计的基于非线性自抗扰技术的多变量解耦控制算法可实现SVG输出电流在dq轴下的解耦,使系统具有较快的动态响应和较强的鲁棒性及抗干扰性,尤其具有单参数调节和无超调的优良性能。
文摘针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器(Extended state observer,ESO),使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗扰控制(Active disturbance rejection control,ADRC)方法,该惯性串联型ADRC方法可以充分利用被控对象的已有知识.论文还给出了惯性串联型ADRC和基于扰动观测器(Disturbance observer,DOB)的控制方法之间的联系,指出它们具有相同的三自由度(three-degree of freedom control,3-DOF)控制系统结构和模块功能,都能实现对系统期望模型以外的总扰动进行估计和补偿.仿真结果表明,所提出的方法是有效的,惯性串联型ESO能实现系统总扰动的估计,惯性串联型ADRC能使系统输出能很好地跟踪系统参考输入.
