Output feedback robust stabilisation for uncertain non‐linear systems with dead‐zone input

Jia, Xianglei; Xu, Shengyuan; Zhang, Zhengqiang; Cui, Guozeng

doi:10.1049/iet-cta.2020.0107

Cited by 9 publications

(5 citation statements)

References 34 publications

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“…Hence, it can be assumed that the control applied to the proportional valve is directly proportional to the spool position, i.e., x v = k i u, where k i is a positive electrical constant and u is the control input voltage. Therefore, Equations (16) and (17) can be transformed to…”

Section: Flow Characteristicsmentioning

confidence: 99%

“…As pointed out in [14], there are generally two kinds of methods to alleviate the effects of deadzone in the literature. One is to model the deadzone as a combination of a linear control input with a constant/time-varying gain (for symmetric/asymmetric deadzone, respectively) and a bounded disturbance-like term, examples like in [15][16][17][18]. In these control algorithms, the disturbance-like term was lumped into uncertain nonlinearities and suppressed by various robust feedback terms, which was likely to arise reduced control performance.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Lin

Jiang

et al. 2021

Machines

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In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, based on the independent valve orifice throttling process, a new comprehensive pressure-flow model is proposed to uniformly indicate both the backlash and deadzone effects on the flow characteristics. Furthermore, in the manipulator lifting dynamics, considering mechanism nonlinearity and utilizing a smooth LuGre friction model to describe the friction dynamics, a nonlinear state-space mathematical model of hydraulic manipulation system is then established. To suppress the adverse effects of severe nonlinearities and uncertainties in the system, a high precision adaptive robust control method is proposed via backstepping, in which a projection-type adaptive law in combination with a robust feedback term is conducted to attenuate various uncertainties and disturbances. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire transient and steady-state close-loop stability, and the excellent tracking performance of the designed control law is verified by comparative simulation results.

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Section: Flow Characteristicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Lin

Jiang

et al. 2021

Machines

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show abstract

“…Theorem 3. Supposing that the linear forward part of Lurie system (28) has no eigenvalues on the imaginary axis except for m eigenvalues at the origin, and p open-loop poles with positive real parts at the same time, then the necessary and sufficient condition for the stability of original system could be summarized as follows: (1) the first condition in Theorem 2 must be satisfied; (2) p = 2N, where N is the circles of Nyquist diagram of G(jω) around the point (−1, j0).…”

Section: Extended Circle Criteriamentioning

confidence: 99%

“…The turntable servo system often fails to achieve accurate tracking due to nonlinear disturbance factors such as friction [22][23][24][25][26], backlash [27], dead-zone [28], and motor torque fluctuation [29], etc. Friction is a common non-linear phenomenon, which exists in almost all electromechanical servo system between two contact surfaces with relative motion.…”

Section: Introductionmentioning

confidence: 99%

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

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“…There are abundant results related to the stabilization of various dynamical models like linear systems (Brockett and Liberzon, 2000), non-linear systems (Mirzaei et al, 2021), and networked systems (Liu et al, 2021). Meanwhile, different control methods, such as output feedback (Jia et al, 2020) and event-triggered strategies (Peng and Ai, 2019), have also been proposed to implement the stabilization of dynamical systems. In order to achieve the modeling and analysis of algebraic systems, Cheng et al (2010) proposed a semi-tensor product (STP) of matrix, on the basis of which studies on Boolean networks and other algebraic systems have been proposed.…”

Section: Introductionmentioning

confidence: 99%

The feedback stabilization of finite-state fuzzy cognitive maps

Xiaojie

Luo

2022

Transactions of the Institute of Measurement and Control

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Fuzzy cognitive maps (FCMs) are a kind of cognitive model for knowledge representation and causal inference. Meanwhile, as fuzzy dynamical systems, FCMs have also been widely applied in the control-related fields, such as mobile robots, unmanned aerial vehicles (UAVs), and industrial controls. However, the existing works mainly focused on the practical applications but lacked the necessary theoretical discussions related to the FCM-based control mechanism. As is known, stabilization is one of the fundamental issues in the control fields. Till date, rigorous research on the stabilization of FCMs is still an issue to be studied. In this article, using state feedback control method, the global stabilizations of finite-state FCMs are investigated. First, utilizing the semi-tensor product (STP) of matrices, the algebraic expression of FCM can be derived. Some theorems ensure the sufficient condition for the existence of the state feedback controller of the global stabilization. Second, the constructive design processes of state feedback controllers are discussed in detail. Third, the global stabilization is further extended into partial stabilization, where only specific concepts of FCMs can be stabilized. The corresponding theoretical analysis is implemented. Finally, the effectiveness of the proposed methods is verified by several examples.

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Output feedback robust stabilisation for uncertain non‐linear systems with dead‐zone input

Cited by 9 publications

References 34 publications

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

The feedback stabilization of finite-state fuzzy cognitive maps

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