State-of-charge estimation by Kalman filter requires a linear dynamics model of lithium-ion battery. This is particularly challenging for formulating a battery dynamics model by a set of linear differential equations, for which battery dynamic characteristics are nonlinear. While much of the research on battery dynamics models has focused on linearizing the battery model by some mathematical methods, comparatively little is known about how to directly model a linear differential equation containing some nonlinear characteristics. In this article, we are trying to build a linear charge dynamics model that consists of equivalent circuit model and voltage charge characteristics, based on which a Kalman filter is designed for state-of-charge estimation. The designed approach is deployed in a battery electric vehicle for some validations. According to some experimental results, it can be concluded that the charge dynamics model of lithium-ion battery is a good linear model for direct application of Kalman filter.
{"title":"A charge dynamics model for state-of-charge estimation by Kalman filter and lithium-ion battery parameters observation in real-vehicle","authors":"Lin He, Guangwei Yin, Renjie Pan, Guoqiang Wang, Jichao Liu, Wenshan Zhou","doi":"10.1177/09596518241263022","DOIUrl":"https://doi.org/10.1177/09596518241263022","url":null,"abstract":"State-of-charge estimation by Kalman filter requires a linear dynamics model of lithium-ion battery. This is particularly challenging for formulating a battery dynamics model by a set of linear differential equations, for which battery dynamic characteristics are nonlinear. While much of the research on battery dynamics models has focused on linearizing the battery model by some mathematical methods, comparatively little is known about how to directly model a linear differential equation containing some nonlinear characteristics. In this article, we are trying to build a linear charge dynamics model that consists of equivalent circuit model and voltage charge characteristics, based on which a Kalman filter is designed for state-of-charge estimation. The designed approach is deployed in a battery electric vehicle for some validations. According to some experimental results, it can be concluded that the charge dynamics model of lithium-ion battery is a good linear model for direct application of Kalman filter.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"55 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the distributed event-triggered (ET) cooperative control problem is concerned for the nonlinear multi-agent systems (MASs) subject to time-delay and output constraint. Different from the traditional static constraint, the output constraint imposed in this paper is dynamic and asymmetric which is more challenging to handle with. A barrier function is employed to deal with the output constraint so that the systems can be converted to the unconstrained form. In order to overcome the time-delay, the Lyapunov-Krasovskii function is considered and a distributed ET consensus controller is designed via backstepping theory. The control signal will be released only if the triggered threshold is violated. Thus, all signals of closed-loop systems are cruelly proved to be bounded. Finally, the proposed control strategy is verified to be effective through a numerical experiment, which ensures the consensus of MASs and reduces communication burden.
本文关注的是非线性多代理系统（MAS）的分布式事件触发（ET）协同控制问题，该问题受到时间延迟和输出约束的影响。与传统的静态约束不同，本文中的输出约束是动态和非对称的，处理起来更具挑战性。本文采用障碍函数来处理输出约束，从而将系统转换为无约束形式。为了克服时间延迟，考虑了 Lyapunov-Krasovskii 函数，并通过反步态理论设计了分布式 ET 共识控制器。只有在违反触发阈值时，控制信号才会被释放。因此，闭环系统的所有信号都被证明是有界的。最后，通过数值实验验证了所提出的控制策略是有效的，既保证了 MAS 的共识，又减轻了通信负担。
{"title":"Distributed event-triggered cooperative saturation control for nonlinear multi-agent systems with time-delay and output constraint","authors":"Beibei Tian, Qi Liu, Chenxu Luo, Junfa Leng, Shuangxi Jing","doi":"10.1177/09596518241262063","DOIUrl":"https://doi.org/10.1177/09596518241262063","url":null,"abstract":"In this paper, the distributed event-triggered (ET) cooperative control problem is concerned for the nonlinear multi-agent systems (MASs) subject to time-delay and output constraint. Different from the traditional static constraint, the output constraint imposed in this paper is dynamic and asymmetric which is more challenging to handle with. A barrier function is employed to deal with the output constraint so that the systems can be converted to the unconstrained form. In order to overcome the time-delay, the Lyapunov-Krasovskii function is considered and a distributed ET consensus controller is designed via backstepping theory. The control signal will be released only if the triggered threshold is violated. Thus, all signals of closed-loop systems are cruelly proved to be bounded. Finally, the proposed control strategy is verified to be effective through a numerical experiment, which ensures the consensus of MASs and reduces communication burden.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"21 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-02DOI: 10.1177/09596518241266662
Hanbing Zhang, Zeyang Yin, Caisheng Wei
The attitude tracking control problem of rigid spacecraft is addressed in this work with external disturbances, parameter uncertainties, and input saturation. A novel nonsingular robust geometric control method is presented, which leverages the advantages of the exact linearization method, active disturbances rejection control (ADRC), and a novel fictitious tracking state technique. Firstly, the global exact linearization of the system is achieved with the aid of the exact linearization method so that the complicated nonlinear system is simplified as a linearized form. Then, ADRC is combined with the linearized system to guarantee its tracking performance and robustness against uncertainties. Furthermore, a serious singularity problem existing in the linearization procedure is pointed out and analyzed, and the novel fictitious tracking state technique is first proposed to avoid the singularity problem and satisfy the input saturation constraint. Finally, some numerical simulations are organized to verify the effectiveness of the proposed method.
{"title":"Nonsingular robust geometric attitude control based on fictitious tracking state","authors":"Hanbing Zhang, Zeyang Yin, Caisheng Wei","doi":"10.1177/09596518241266662","DOIUrl":"https://doi.org/10.1177/09596518241266662","url":null,"abstract":"The attitude tracking control problem of rigid spacecraft is addressed in this work with external disturbances, parameter uncertainties, and input saturation. A novel nonsingular robust geometric control method is presented, which leverages the advantages of the exact linearization method, active disturbances rejection control (ADRC), and a novel fictitious tracking state technique. Firstly, the global exact linearization of the system is achieved with the aid of the exact linearization method so that the complicated nonlinear system is simplified as a linearized form. Then, ADRC is combined with the linearized system to guarantee its tracking performance and robustness against uncertainties. Furthermore, a serious singularity problem existing in the linearization procedure is pointed out and analyzed, and the novel fictitious tracking state technique is first proposed to avoid the singularity problem and satisfy the input saturation constraint. Finally, some numerical simulations are organized to verify the effectiveness of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"34 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141880758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-02DOI: 10.1177/09596518241263003
Yanxia Shen, Wei Zou, Lei Wang
This article investigates an output feedback based proportional-derivative (PD)-type iterative learning fault-tolerant control approach for a category of uncertain discrete systems subject to actuator faults. To develop the iterative learning control scheme based on the output measurement, the fault system of repetitive nature is equivalently converted into a discrete linear repetitive process. By applying a Lyapunov function, this article establishes new adequate criteria for to ensure the asymptotic stability of the implemented fault-tolerant controller through linear matrix inequality constraints. The precise allocation of the controller gain matrices is also provided. Finally, simulation results of an injection molding process demonstrate the effectiveness and viability of the proposed approach.
{"title":"Output feedback based PD-type iterative learning fault-tolerant control for uncertain discrete systems with actuator faults","authors":"Yanxia Shen, Wei Zou, Lei Wang","doi":"10.1177/09596518241263003","DOIUrl":"https://doi.org/10.1177/09596518241263003","url":null,"abstract":"This article investigates an output feedback based proportional-derivative (PD)-type iterative learning fault-tolerant control approach for a category of uncertain discrete systems subject to actuator faults. To develop the iterative learning control scheme based on the output measurement, the fault system of repetitive nature is equivalently converted into a discrete linear repetitive process. By applying a Lyapunov function, this article establishes new adequate criteria for to ensure the asymptotic stability of the implemented fault-tolerant controller through linear matrix inequality constraints. The precise allocation of the controller gain matrices is also provided. Finally, simulation results of an injection molding process demonstrate the effectiveness and viability of the proposed approach.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"42 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141880759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-31DOI: 10.1177/09596518241263371
Somayeh Jamshidi, Mehdi Mirzaei
In this paper, a novel scheme is presented to estimate the uncertainty and disturbance of the spacecraft system by a compensatory vector calculated online from the information of measured angular velocities. The compensatory vector is used in the constrained attitude control law to compensate for the perturbations of the spacecraft system. The attitude controller considering the input limitations of reaction wheels is developed by solving an optimization problem through the Karush-Kuhn-Tucker (KKT) theorem. By using noisy angular velocities in the observer design, the stochastic stability of the closed loop system under the constrained multivariable controller is demonstrated. In the results, at first, the open-loop performance of the uncertainty and disturbance observer is evaluated through computer simulations. Subsequently, the performance of the proposed controller in both constrained and unconstrained versions is evaluated. Finally, the proposed controller performance in compensating for uncertainties and disturbances is compared with the adaptive backstepping controller reported in the literature. The comparative results of two controllers show the superior performance for the proposed constrained controller in the presence of disturbances, uncertainties and input constraints. Furthermore, the proposed control system could attenuate the effect of measurement noises of angular velocities by weighting the compensatory vector in the observer design.
{"title":"Novel scheme for uncertainty and disturbance estimation to control of spacecraft system with input constraint","authors":"Somayeh Jamshidi, Mehdi Mirzaei","doi":"10.1177/09596518241263371","DOIUrl":"https://doi.org/10.1177/09596518241263371","url":null,"abstract":"In this paper, a novel scheme is presented to estimate the uncertainty and disturbance of the spacecraft system by a compensatory vector calculated online from the information of measured angular velocities. The compensatory vector is used in the constrained attitude control law to compensate for the perturbations of the spacecraft system. The attitude controller considering the input limitations of reaction wheels is developed by solving an optimization problem through the Karush-Kuhn-Tucker (KKT) theorem. By using noisy angular velocities in the observer design, the stochastic stability of the closed loop system under the constrained multivariable controller is demonstrated. In the results, at first, the open-loop performance of the uncertainty and disturbance observer is evaluated through computer simulations. Subsequently, the performance of the proposed controller in both constrained and unconstrained versions is evaluated. Finally, the proposed controller performance in compensating for uncertainties and disturbances is compared with the adaptive backstepping controller reported in the literature. The comparative results of two controllers show the superior performance for the proposed constrained controller in the presence of disturbances, uncertainties and input constraints. Furthermore, the proposed control system could attenuate the effect of measurement noises of angular velocities by weighting the compensatory vector in the observer design.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"124 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141863064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-31DOI: 10.1177/09596518241263537
Taiyou Liu, Xiaowei Wang, Guang Li, Wenfeng Li, Zhengchao Xie, Pak Kin Wong, Jing Zhao
The vehicle lateral stability control is a challenging problem due to the tire nonlinearity and the immeasurable sideslip angle. Thus, an adaptive model predictive control (AMPC) scheme based on interacting multiple model (IMM) vehicle sideslip angle observer is proposed in this paper. First, the observer is composed of the Extended Kalman filter (EKF) and the Unscented Kalman filter (UKF), which improves the real-time performance as well as the observation accuracy. Then, a multi-objective controller based on adaptive vehicle model prediction is designed using model predictive control algorithm. This controller aims to achieve a balance between the actuation and state constraints. The T-S fuzzy algorithm is used to observe the tire cornering stiffness and design an adaptive vehicle model. By utilizing the appropriate objective function and a quadratic programing solver, the controller output is obtained to achieve vehicle stability control. Finally, the effectiveness of the designed AMPC scheme under various working conditions is verified by Carsim-Simulink joint simulation platform and hardware-in-the-loop (HIL) test.
{"title":"Interacting multiple model-based yaw stability control for distributed drive electric vehicle via adaptive model predictive control algorithm","authors":"Taiyou Liu, Xiaowei Wang, Guang Li, Wenfeng Li, Zhengchao Xie, Pak Kin Wong, Jing Zhao","doi":"10.1177/09596518241263537","DOIUrl":"https://doi.org/10.1177/09596518241263537","url":null,"abstract":"The vehicle lateral stability control is a challenging problem due to the tire nonlinearity and the immeasurable sideslip angle. Thus, an adaptive model predictive control (AMPC) scheme based on interacting multiple model (IMM) vehicle sideslip angle observer is proposed in this paper. First, the observer is composed of the Extended Kalman filter (EKF) and the Unscented Kalman filter (UKF), which improves the real-time performance as well as the observation accuracy. Then, a multi-objective controller based on adaptive vehicle model prediction is designed using model predictive control algorithm. This controller aims to achieve a balance between the actuation and state constraints. The T-S fuzzy algorithm is used to observe the tire cornering stiffness and design an adaptive vehicle model. By utilizing the appropriate objective function and a quadratic programing solver, the controller output is obtained to achieve vehicle stability control. Finally, the effectiveness of the designed AMPC scheme under various working conditions is verified by Carsim-Simulink joint simulation platform and hardware-in-the-loop (HIL) test.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"145 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141863061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-29DOI: 10.1177/09596518241263538
Chao Liu, XiaoXia Qiu, Yao Mao
The work described in this paper proposes a PID high-type controller turning via Linear Quadratic Regulator (LQR) approach and pole-placement technique to level up dynamic response performance and disturbance suppression ability of the system. Meanwhile, considering the influence of the modeling error and uncertain disturbance on the stability of the control system, this paper extends the design method of the Linear Extended State Observer (LESO) to PID high-type control loop. In this paper, the tuning rule of PID high-type controller parameters without delay factor and the tuning rule of PID high-type controller parameters with delay factor are given. Finally, the simulation analysis and experimental results show that performance of the PID high-type controller are superior to the PD controller in traditional LESO and the PID type-i controller. Specifically, the system under the PID high-type controller not only eliminates the high-order steady-state error, but also can achieve high-precision tracking when the reference signal changes quickly. Meanwhile, disturbance suppression ability of the system and the dynamic response performance of the system such as rise time, settling time are significantly improved.
{"title":"The PID high-type controller based on LQR and model-assisted LESO","authors":"Chao Liu, XiaoXia Qiu, Yao Mao","doi":"10.1177/09596518241263538","DOIUrl":"https://doi.org/10.1177/09596518241263538","url":null,"abstract":"The work described in this paper proposes a PID high-type controller turning via Linear Quadratic Regulator (LQR) approach and pole-placement technique to level up dynamic response performance and disturbance suppression ability of the system. Meanwhile, considering the influence of the modeling error and uncertain disturbance on the stability of the control system, this paper extends the design method of the Linear Extended State Observer (LESO) to PID high-type control loop. In this paper, the tuning rule of PID high-type controller parameters without delay factor and the tuning rule of PID high-type controller parameters with delay factor are given. Finally, the simulation analysis and experimental results show that performance of the PID high-type controller are superior to the PD controller in traditional LESO and the PID type-i controller. Specifically, the system under the PID high-type controller not only eliminates the high-order steady-state error, but also can achieve high-precision tracking when the reference signal changes quickly. Meanwhile, disturbance suppression ability of the system and the dynamic response performance of the system such as rise time, settling time are significantly improved.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"189 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141862977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-27DOI: 10.1177/09596518241256145
Meihang Li, Ximei Liu, Yamin Fan, Feng Ding
This paper mainly discussed the highly efficient iterative identification methods for bilinear systems with autoregressive moving average noise. Firstly, the input-output representation of the bilinear systems is derived through eliminating the unknown state variables in the model. Then based on the maximum-likelihood principle, a maximum-likelihood gradient-based iterative (ML-GI) algorithm is proposed to identify the parameters of the bilinear systems with colored noises. For improving the computational efficiency, the original identification model is divided into three sub-identification models with smaller dimensions and fewer parameters, and a hierarchical maximum-likelihood gradient-based iterative (H-ML-GI) algorithm is derived by using the hierarchical identification principle. A gradient-based iterative (GI) algorithm is given for comparison. Finally, the algorithms are verified by a simulation example and a practical continuous stirred tank reactor (CSTR) example. The results show that the proposed algorithms are effective for identifying bilinear systems with colored noises and the H-ML-GI algorithm has a higher computational efficiency and a faster convergence rate than the ML-GI algorithm and the GI algorithm.
本文主要讨论了具有自回归移动平均噪声的双线性系统的高效迭代识别方法。首先，通过消除模型中的未知状态变量，得出双线性系统的输入输出表示。然后，基于最大似然原理，提出了一种基于最大似然梯度的迭代（ML-GI）算法来识别有彩色噪声的双线性系统的参数。为提高计算效率，将原始识别模型划分为三个维度较小、参数较少的子识别模型，并利用分层识别原理推导出分层最大似然梯度迭代（H-ML-GI）算法。此外，还给出了一种基于梯度的迭代算法（GI）供比较。最后，通过一个仿真实例和一个实际的连续搅拌罐反应器（CSTR）实例对算法进行了验证。结果表明，所提出的算法能有效识别具有彩色噪声的双线性系统，而且 H-ML-GI 算法比 ML-GI 算法和 GI 算法具有更高的计算效率和更快的收敛速度。
{"title":"Highly efficient maximum-likelihood identification methods for bilinear systems with colored noises","authors":"Meihang Li, Ximei Liu, Yamin Fan, Feng Ding","doi":"10.1177/09596518241256145","DOIUrl":"https://doi.org/10.1177/09596518241256145","url":null,"abstract":"This paper mainly discussed the highly efficient iterative identification methods for bilinear systems with autoregressive moving average noise. Firstly, the input-output representation of the bilinear systems is derived through eliminating the unknown state variables in the model. Then based on the maximum-likelihood principle, a maximum-likelihood gradient-based iterative (ML-GI) algorithm is proposed to identify the parameters of the bilinear systems with colored noises. For improving the computational efficiency, the original identification model is divided into three sub-identification models with smaller dimensions and fewer parameters, and a hierarchical maximum-likelihood gradient-based iterative (H-ML-GI) algorithm is derived by using the hierarchical identification principle. A gradient-based iterative (GI) algorithm is given for comparison. Finally, the algorithms are verified by a simulation example and a practical continuous stirred tank reactor (CSTR) example. The results show that the proposed algorithms are effective for identifying bilinear systems with colored noises and the H-ML-GI algorithm has a higher computational efficiency and a faster convergence rate than the ML-GI algorithm and the GI algorithm.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"53 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141863071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-25DOI: 10.1177/09596518241262502
Mengqi Deng, Pak Kin Wong, Zhijiang Gao, Xinbo Ma, Jing Zhao
The magnetorheological fluid (MRF) semi-active suspension (SAS) is a crucial system for the absorption and the dissipation of vibration energy. However, the hysteresis nonlinearity of the MRF actuator is difficult to tackle in the control design of the MRF-SAS system. A novel robust finite frequency control strategy based on a Taylor approximation is proposed in this work to improve the vibration suppression of the MRF-SAS system with hysteresis nonlinearity. First, a hyperbolic tangent model is introduced to represent the nonlinear dynamic characteristics of the MRF damper, and then the modified Taylor expansion is adopted to approximate the hyperbolic tangent model. Moreover, an online sequential extreme learning machine (ELM) is employed to construct the inverse model of the MRF damper. Finally, to trade off vehicle handling stability and ride comfort, the robust finite frequency controller is designed based on the linear matrix inequations (LMIs) with the consideration of the time delay, the control perturbation, and the actuator saturation. It can be seen from the simulation results that the proposed robust finite frequency controller is more effective in improving vibration suppression of the MRF-SAS system than the skyhook controller.
{"title":"Robust finite frequency control for MRF damper-based semi-active suspension systems subject to time delay and hysteresis nonlinearity","authors":"Mengqi Deng, Pak Kin Wong, Zhijiang Gao, Xinbo Ma, Jing Zhao","doi":"10.1177/09596518241262502","DOIUrl":"https://doi.org/10.1177/09596518241262502","url":null,"abstract":"The magnetorheological fluid (MRF) semi-active suspension (SAS) is a crucial system for the absorption and the dissipation of vibration energy. However, the hysteresis nonlinearity of the MRF actuator is difficult to tackle in the control design of the MRF-SAS system. A novel robust finite frequency control strategy based on a Taylor approximation is proposed in this work to improve the vibration suppression of the MRF-SAS system with hysteresis nonlinearity. First, a hyperbolic tangent model is introduced to represent the nonlinear dynamic characteristics of the MRF damper, and then the modified Taylor expansion is adopted to approximate the hyperbolic tangent model. Moreover, an online sequential extreme learning machine (ELM) is employed to construct the inverse model of the MRF damper. Finally, to trade off vehicle handling stability and ride comfort, the robust finite frequency controller is designed based on the linear matrix inequations (LMIs) with the consideration of the time delay, the control perturbation, and the actuator saturation. It can be seen from the simulation results that the proposed robust finite frequency controller is more effective in improving vibration suppression of the MRF-SAS system than the skyhook controller.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"45 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-25DOI: 10.1177/09596518241262059
Ghali Naami, Mohamed Ouahi, Abdelhamid Rabhi, Fernando Tadeo, Dainius Udris
Delay-dependent robust [Formula: see text] fuzzy dynamic observers (HFDOs) for continuous-time T-S fuzzy systems with interval time-varying delays, are studied here, considering the presence of exogenous disturbances. The proposed approach involves the creation of an augmented Lyapunov-Krasovskii functional through the utilization of an integral inequality based on the Wirtinger-based integral inequality and the extended reciprocally convex combination inequality. These techniques lead to delay-dependent conditions that are less conservative and that can be represented as a set of linear matrix inequalities, solvable using the YALMIP toolbox. Two detailed examples are presented at the end of the paper to illustrate the overall effectiveness of the proposed observer, which performs better than existing observers such as the [Formula: see text] fuzzy proportional observer (HFPO) and the [Formula: see text] fuzzy proportional-integral observer (HFPIO).
{"title":"On the designing of robust dynamic observers for continuous-time systems in T-S fuzzy model with interval time-varying delays","authors":"Ghali Naami, Mohamed Ouahi, Abdelhamid Rabhi, Fernando Tadeo, Dainius Udris","doi":"10.1177/09596518241262059","DOIUrl":"https://doi.org/10.1177/09596518241262059","url":null,"abstract":"Delay-dependent robust [Formula: see text] fuzzy dynamic observers (HFDOs) for continuous-time T-S fuzzy systems with interval time-varying delays, are studied here, considering the presence of exogenous disturbances. The proposed approach involves the creation of an augmented Lyapunov-Krasovskii functional through the utilization of an integral inequality based on the Wirtinger-based integral inequality and the extended reciprocally convex combination inequality. These techniques lead to delay-dependent conditions that are less conservative and that can be represented as a set of linear matrix inequalities, solvable using the YALMIP toolbox. Two detailed examples are presented at the end of the paper to illustrate the overall effectiveness of the proposed observer, which performs better than existing observers such as the [Formula: see text] fuzzy proportional observer (HFPO) and the [Formula: see text] fuzzy proportional-integral observer (HFPIO).","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"38 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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