Actuator Failure Compensation-Based Adaptive Control of Active Suspension Systems With Prescribed Performance

Liu, Lei; Zeng, Qiang; Tong, Shaocheng; Chen, C. L. Philip

doi:10.1109/tie.2019.2937037

Cited by 118 publications

(49 citation statements)

References 52 publications

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“…Multiplying (21) by (20), making z 1 = −N r /(I z − Nṙ) and defining K x = K/(I z − Nṙ), the closed loop system can be represented by (22):…”

Section: B High and Low-level Control Loopmentioning

confidence: 99%

“…Thus, the control strategy is not limited to finding and tunning the best topology (e.g., PID, H∞, Lyapunov,...); it is necessary to map the control looping forces into the actuators. Although this approach generates a complex nonlinear problem, it also enables more control, and failure strategies [22]. Regarding the solution to this nonlinear control allocation problem, this work introduces a new methodology named Fast Control Allocation (FCA).…”

Section: Introductionmentioning

confidence: 99%

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Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

et al. 2021

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“…Multiplying (21) by (20), making z 1 = −N r /(I z − Nṙ) and defining K x = K/(I z − Nṙ), the closed loop system can be represented by (22):…”

Section: B High and Low-level Control Loopmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

et al. 2021

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“…Other designs of the pipeline inspection robots are also worthy for study [13][14][15][16]. In addition, many aspects should be carefully considered on the integration of robotic systems, such as intelligence [17,18], perception [19,20], task planning [21], robot control [22][23][24], fault tolerance [25,26], etc. All these aspects bring challenges to the successful development of robotic systems for oil pipeline inspection.…”

Section: Introductionmentioning

confidence: 99%

Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

Zhang

et al. 2020

Applied Sciences

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The periodic inspection for oil pipelines is required due to the deterioration over time. A multitude of factors brings such a deterioration, from corrosion, leaks, to cracks, which may lead to blowbacks and cause the damages for operators and the environments. With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. Rather than the assignment of human workers in hazardous environments, the deployment of such kinds of inspection robots can take on this duty more time-efficiently and safely, preventing the human workers from the high-risk of the inspection task in the oil pipelines. This paper presents a novel design of a mobile robot for oil pipeline inspection, which is cooperated with the China National Petroleum Corporation (CNPC). With the improvement of the previous inspection robot used in CNPC’s standard oil pipelines, the newly designed robot is composed of six groups of symmetrical supporting wheels, and a more powerful motors as well as a more advanced control system. This new design endows the oil pipeline inspection robot with better performance on six aspects: traction, obstacle-adaptivity, operation endurance, gradeability, visual perception, and stability. The field testing results at multiple oil transfer stations across several months demonstrate the reliability of this mobile robot under various severe situations in China and validate its performance in the studied aspects.

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“…Suspension systems play crucial roles in vehicle chassis, which are responsible for the ride comfort, maneuverability, and road holding [1]- [3]. In terms of the three types of suspension systems, active suspensions possess greater potential in improving the performance objectives than passive suspensions and semi-active suspensions; because additional actuators, which can add and dissipate energy from the system, are placed in parallel with the passive components (i.e., springs and dampers) [4].…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Zhao

et al. 2020

IEEE Access

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In this paper, an output feedback controller based on a novel sampled-data nonlinear extended state observer (SDNLESO) is proposed for an active suspension electro-hydraulic actuator (ASEHA) system to address the heavy nonlinearities, model uncertainties and sampled-data behavior. The designed controller only requires little prior knowledge about the controlled system for the purpose of position tracking. The SDNLESO, integrating a novel nonlinear extended state observer and an output predictor, is developed to simultaneously and continuously estimate the unmeasurable states and total disturbance for an error dynamic system rather than the original ASEHA system, where the actual discrete displacement tracking error between measurement output and the reference signal serves as the observer input. Then, a compensated controller is synthesized based on the obtained estimates, which is robust against the matched and mismatched disturbances of the system while being able to ensure an expected transient tracking performance and final tracking accuracy. By constructing weighted error system and using the geometric homogeneity theory, the SDNLESO convergence is proven, while the maximum allowable sampling period is derived theoretically for guiding the selection of the actual sampling interval. Moreover, the closedloop system stability and the tracking error exponential convergence are guaranteed within the Lyapunov framework. Finally, a number of practical experiments are carried out on the ASEHA system test platform. The results show that the proposed control method is applicable and valid for nonlinear and uncertain ASEHA system despite the existence of a large actuator area ratio. INDEX TERMS Active suspension elctro-hydraulic actuator (EHA), nonlinearity, output feedback, sampled-data observer, uncertainty.

show abstract

Actuator Failure Compensation-Based Adaptive Control of Active Suspension Systems With Prescribed Performance

Cited by 118 publications

References 52 publications

Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System

Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

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