Pub Date : 2024-05-13DOI: 10.1177/01423312241231651
Zhaoyang Tian, Xiaohang Li
In control engineering, time-delayed systems are quite common. Modern industrial systems often involve delays due to complicated network environments, the accuracy of sensors and actuators, or signal processing. Speaking of Markovian jump systems, such systems undergo discrete mode changes caused by a Markov process. Hence, it is reasonable to consider the mode-dependent time delays. In this paper, the asynchronous fault-tolerant controller is developed for mode-dependent time-delayed Markovian jump systems. First, the estimations of states and actuator fault are provided by designing an intermediate observer. Then, based on these estimations, the asynchronous fault-tolerant controller is designed by virtue of the hidden Markov process with uncertain conditional probability. Finally, the existence conditions of both the designed observer and fault-tolerant controller are given in terms of linear matrix inequalities. In the meantime, a numerical example is illustrated to validate the effectiveness and potential of the proposed method.
{"title":"Hidden Markov model–based asynchronous fault-tolerant control for mode-dependent time-delayed Markovian jump systems with uncertain conditional probability","authors":"Zhaoyang Tian, Xiaohang Li","doi":"10.1177/01423312241231651","DOIUrl":"https://doi.org/10.1177/01423312241231651","url":null,"abstract":"In control engineering, time-delayed systems are quite common. Modern industrial systems often involve delays due to complicated network environments, the accuracy of sensors and actuators, or signal processing. Speaking of Markovian jump systems, such systems undergo discrete mode changes caused by a Markov process. Hence, it is reasonable to consider the mode-dependent time delays. In this paper, the asynchronous fault-tolerant controller is developed for mode-dependent time-delayed Markovian jump systems. First, the estimations of states and actuator fault are provided by designing an intermediate observer. Then, based on these estimations, the asynchronous fault-tolerant controller is designed by virtue of the hidden Markov process with uncertain conditional probability. Finally, the existence conditions of both the designed observer and fault-tolerant controller are given in terms of linear matrix inequalities. In the meantime, a numerical example is illustrated to validate the effectiveness and potential of the proposed method.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140985913","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 : 2024-05-10DOI: 10.1177/01423312241243177
Nassira Barhoumi, Hajer Marzougui, F. Bacha, Moussa Boukhnifer
This work contributes to the optimization of hybrid system coupling a fuel cell (FC) to a supercapacitor (SC) for electric vehicles. The complementarity between these two energy sources allows the improvement of the global performances of the system. Our study focuses on the implementation of control and energy management techniques. Our objective is to have a better use of the storage system. In this context, our approach is to regulate the bus current and voltage and then to develop two real-time energy management strategies, one without considering and the other with considering the state of charge of the storage system. A comparison between these two strategies allowed us to understand the importance of the state of charge in the hybrid system. MATLAB/Simulink helped us in showing the performance obtained on a given mission profile of the vehicle dynamics.
{"title":"Four-leg floating interleaved converters for electric vehicle applications with rule-based energy management algorithm","authors":"Nassira Barhoumi, Hajer Marzougui, F. Bacha, Moussa Boukhnifer","doi":"10.1177/01423312241243177","DOIUrl":"https://doi.org/10.1177/01423312241243177","url":null,"abstract":"This work contributes to the optimization of hybrid system coupling a fuel cell (FC) to a supercapacitor (SC) for electric vehicles. The complementarity between these two energy sources allows the improvement of the global performances of the system. Our study focuses on the implementation of control and energy management techniques. Our objective is to have a better use of the storage system. In this context, our approach is to regulate the bus current and voltage and then to develop two real-time energy management strategies, one without considering and the other with considering the state of charge of the storage system. A comparison between these two strategies allowed us to understand the importance of the state of charge in the hybrid system. MATLAB/Simulink helped us in showing the performance obtained on a given mission profile of the vehicle dynamics.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140992806","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 : 2024-05-10DOI: 10.1177/01423312241248250
Yuan Liu, Pinxiao Liu, Bing Zhang
In this paper, we investigate the finite-time distributed optimization problem for multiple Euler–Lagrange systems. A new distributed optimization control scheme is presented to achieve the state agreement in finite time while minimizing the sum of each agent’s local cost function. The proposed algorithm has the advantage of being able to achieve distributed finite-time optimization consensus under general unbalanced connected directed communication graphs. By virtue of finite-time Lyapunov theory and convex optimization, the finite-time convergence for the algorithm is analyzed. A numerical example is also presented to illustrate the effectiveness of the obtained results.
{"title":"Distributed finite-time optimization for networked Euler–Lagrange systems under a directed graph","authors":"Yuan Liu, Pinxiao Liu, Bing Zhang","doi":"10.1177/01423312241248250","DOIUrl":"https://doi.org/10.1177/01423312241248250","url":null,"abstract":"In this paper, we investigate the finite-time distributed optimization problem for multiple Euler–Lagrange systems. A new distributed optimization control scheme is presented to achieve the state agreement in finite time while minimizing the sum of each agent’s local cost function. The proposed algorithm has the advantage of being able to achieve distributed finite-time optimization consensus under general unbalanced connected directed communication graphs. By virtue of finite-time Lyapunov theory and convex optimization, the finite-time convergence for the algorithm is analyzed. A numerical example is also presented to illustrate the effectiveness of the obtained results.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140992529","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 : 2024-05-10DOI: 10.1177/01423312241245764
Jyotindra Narayan, Mohamed Abbas, S. K. Dwivedy
The passive-assist rehabilitation mode with a fixed desired trajectory neglects the subject’s active involvement and degrades the therapeutic performance in case of partial muscle strength. Therefore, this study proposes a novel subject-cooperative control based on a variable admittance control scheme and a robust trajectory control scheme for a pediatric lower-limb exoskeleton robot. Initially, the system description and dynamic modeling are briefly explained. Thereafter, a neural-fuzzy–based variable admittance control ( nf VAC) is designed to incorporate a realistic subject-exoskeleton interaction and consider the subject’s active participation. Finally, a robust adaptive backstepping sliding mode control with rapid reaching law is used to handle parametric uncertainties and external disturbances. A stepwise selection of Lyapunov functions is utilized to address the stability of the trajectory control. The effectiveness of the proposed adaptive backstepping sliding mode–neural-fuzzy variable admittance control (ABSM- nf VAC) scheme is compared with two contrast control schemes, namely, adaptive backstepping-fixed admittance control (AB-FAC) and adaptive terminal sliding mode-fuzzy variable admittance control (ATSM- f VAC) for the active-assist mode with the effect of sudden reflex. Based on the numerical results, the suggested cooperative controller has demonstrated favorable tracking performance, compliant interaction, and safety aspects during gait training.
具有固定预期轨迹的被动辅助康复模式忽视了受试者的主动参与，在部分肌肉力量不足的情况下会降低治疗效果。因此，本研究为儿科下肢外骨骼机器人提出了一种基于可变导纳控制方案和鲁棒轨迹控制方案的新型主体合作控制。首先，简要说明了系统描述和动态建模。随后，设计了基于神经模糊的可变导纳控制（nf VAC），以纳入现实的主体-外骨骼互动，并考虑主体的积极参与。最后，还采用了具有快速到达规律的鲁棒自适应反步进滑动模式控制，以处理参数不确定性和外部干扰。利用逐步选择 Lyapunov 函数来解决轨迹控制的稳定性问题。将所提出的自适应反步进滑动模式-神经模糊可变导纳控制（ABSM- nf VAC）方案与两种对比控制方案，即自适应反步进-固定导纳控制（AB-FAC）和自适应终端滑动模式-模糊可变导纳控制（ATSM- f VAC）的有效性进行了比较。根据数值结果，所建议的合作控制器在步态训练中表现出了良好的跟踪性能、顺应性交互和安全性。
{"title":"Adaptive backstepping sliding mode subject-cooperative control for a pediatric lower-limb exoskeleton robot","authors":"Jyotindra Narayan, Mohamed Abbas, S. K. Dwivedy","doi":"10.1177/01423312241245764","DOIUrl":"https://doi.org/10.1177/01423312241245764","url":null,"abstract":"The passive-assist rehabilitation mode with a fixed desired trajectory neglects the subject’s active involvement and degrades the therapeutic performance in case of partial muscle strength. Therefore, this study proposes a novel subject-cooperative control based on a variable admittance control scheme and a robust trajectory control scheme for a pediatric lower-limb exoskeleton robot. Initially, the system description and dynamic modeling are briefly explained. Thereafter, a neural-fuzzy–based variable admittance control ( nf VAC) is designed to incorporate a realistic subject-exoskeleton interaction and consider the subject’s active participation. Finally, a robust adaptive backstepping sliding mode control with rapid reaching law is used to handle parametric uncertainties and external disturbances. A stepwise selection of Lyapunov functions is utilized to address the stability of the trajectory control. The effectiveness of the proposed adaptive backstepping sliding mode–neural-fuzzy variable admittance control (ABSM- nf VAC) scheme is compared with two contrast control schemes, namely, adaptive backstepping-fixed admittance control (AB-FAC) and adaptive terminal sliding mode-fuzzy variable admittance control (ATSM- f VAC) for the active-assist mode with the effect of sudden reflex. Based on the numerical results, the suggested cooperative controller has demonstrated favorable tracking performance, compliant interaction, and safety aspects during gait training.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140992416","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 : 2024-05-10DOI: 10.1177/01423312241239386
Chao Huang, Bin Du, Mou Chen
The collaboration of heterogeneous multiple robots has been shown to be capable of significantly enhancing the system redundancy, autonomy, robustness, and so on. However, realizing the collaboration with specific tasks in practice often requires the development of sophisticated mechanisms which are envisioned to exploit distinct benefits of the heterogeneous platforms. Thus, we propose a novel air–ground cooperative framework in this paper for the task of multi-target searching under an unknown urban environment. In particular, a group of unmanned aerial vehicles (UAVs) is employed to operate above the urban area to provide surveillance from a global perspective. Under the guidance of UAVs, multiple teams of unmanned ground vehicles (UGVs) are deployed to conduct the target searching missions. The UAVs’ and UGVs’ searching strategies are devised correspondingly leveraging on their own advantageous features. Finally, an ingenious integration of UAVs’ and UGVs’ searching operations is established by a notion of the upper confidence bound. Simulation results are provided to demonstrate the effectiveness of our approach.
{"title":"Air–ground cooperative multi-target searching under an unknown urban environment","authors":"Chao Huang, Bin Du, Mou Chen","doi":"10.1177/01423312241239386","DOIUrl":"https://doi.org/10.1177/01423312241239386","url":null,"abstract":"The collaboration of heterogeneous multiple robots has been shown to be capable of significantly enhancing the system redundancy, autonomy, robustness, and so on. However, realizing the collaboration with specific tasks in practice often requires the development of sophisticated mechanisms which are envisioned to exploit distinct benefits of the heterogeneous platforms. Thus, we propose a novel air–ground cooperative framework in this paper for the task of multi-target searching under an unknown urban environment. In particular, a group of unmanned aerial vehicles (UAVs) is employed to operate above the urban area to provide surveillance from a global perspective. Under the guidance of UAVs, multiple teams of unmanned ground vehicles (UGVs) are deployed to conduct the target searching missions. The UAVs’ and UGVs’ searching strategies are devised correspondingly leveraging on their own advantageous features. Finally, an ingenious integration of UAVs’ and UGVs’ searching operations is established by a notion of the upper confidence bound. Simulation results are provided to demonstrate the effectiveness of our approach.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140993818","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 : 2024-05-08DOI: 10.1177/01423312241245457
V. Thilagamani, Rathinasamy Sakthivel, T. Satheesh, A. Mohammadzadeh, R. Sasirekha
This study explores the problem of finite-time resilient control for periodic piecewise polynomial time-varying systems in the face of parameter uncertainties, time-varying state delays and external disturbances. Particularly, the considered system is characterized by dividing the fundamental period of periodic systems into numerous subintervals, each of which can be expressed by using matrix polynomial functions. The foremost intention of this work is to lay out a resilient controller such that the resulting closed-loop system is finite-time bounded and satisfies a mixed [Formula: see text] and passivity performance index. Furthermore, by constructing a periodic piecewise time-varying Lyapunov–Krasovskii functional, a delay-dependent sufficient condition is established in line with Wiritinger’s inequality and matrix polynomial lemma to guarantee the needed outcomes of the system under study. Following this, the gain matrix of the devised controller can be calculated by solving the established constraints. As a final step, we conclude with a numerical example that validates the potential and importance of the theoretical discoveries and the developed control scheme.
{"title":"Finite-time resilient control for uncertain periodic piecewise polynomial time-varying systems","authors":"V. Thilagamani, Rathinasamy Sakthivel, T. Satheesh, A. Mohammadzadeh, R. Sasirekha","doi":"10.1177/01423312241245457","DOIUrl":"https://doi.org/10.1177/01423312241245457","url":null,"abstract":"This study explores the problem of finite-time resilient control for periodic piecewise polynomial time-varying systems in the face of parameter uncertainties, time-varying state delays and external disturbances. Particularly, the considered system is characterized by dividing the fundamental period of periodic systems into numerous subintervals, each of which can be expressed by using matrix polynomial functions. The foremost intention of this work is to lay out a resilient controller such that the resulting closed-loop system is finite-time bounded and satisfies a mixed [Formula: see text] and passivity performance index. Furthermore, by constructing a periodic piecewise time-varying Lyapunov–Krasovskii functional, a delay-dependent sufficient condition is established in line with Wiritinger’s inequality and matrix polynomial lemma to guarantee the needed outcomes of the system under study. Following this, the gain matrix of the devised controller can be calculated by solving the established constraints. As a final step, we conclude with a numerical example that validates the potential and importance of the theoretical discoveries and the developed control scheme.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140998099","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}
Fire-related emergency vehicle scheduling has always been an important part of autonomous vehicle emergency management. To maintain the fire safety of buildings and reduce the transportation loss of emergency resources, this paper constructs a multi-objective integer planning model for fire emergency resource scheduling, which minimizes the time spent in the transportation of fire materials and considers the transportation needs of potential fire vehicles. The fixed-point iterative algorithm is realized and optimized, and distributed computing is adopted to improve the solving speed. In this paper, the comparison and simulation experiments with Branch and Bound, improved particle swarm optimization and other algorithms are carried out. The results show that the model and the algorithm can effectively deal with the fire emergency vehicle scheduling problem under different simulated fires and multiple fires occurring at the same time, and have certain advantages in numerical stability and convergence speed.
{"title":"Emergency control of firefighting vehicles based on distributed integer programming","authors":"Wendi Wu, Zhikang Wang, Baoping Jiang, Xin Zhang, Zhengtian Wu","doi":"10.1177/01423312241244476","DOIUrl":"https://doi.org/10.1177/01423312241244476","url":null,"abstract":"Fire-related emergency vehicle scheduling has always been an important part of autonomous vehicle emergency management. To maintain the fire safety of buildings and reduce the transportation loss of emergency resources, this paper constructs a multi-objective integer planning model for fire emergency resource scheduling, which minimizes the time spent in the transportation of fire materials and considers the transportation needs of potential fire vehicles. The fixed-point iterative algorithm is realized and optimized, and distributed computing is adopted to improve the solving speed. In this paper, the comparison and simulation experiments with Branch and Bound, improved particle swarm optimization and other algorithms are carried out. The results show that the model and the algorithm can effectively deal with the fire emergency vehicle scheduling problem under different simulated fires and multiple fires occurring at the same time, and have certain advantages in numerical stability and convergence speed.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141129345","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 : 2024-05-07DOI: 10.1177/01423312241239484
Yuhang Liu, Chen Wei, Haibin Duan, Wanmai Yuan
An improved active disturbance rejection control (ADRC) algorithm is proposed in this paper to enhance the heading control capabilities of unmanned surface vehicles (USVs) under wind and wave disturbances. The algorithm introduces two enhancements: parameter tuning and fitting, alongside the optimization of the nonlinear function in the ADRC algorithm. First, the parameter tuning employs an improved pigeon-inspired optimization (PIO) algorithm, which encompasses two strategies: the adaptive strategy and the wandering strategy. Parameter fitting ensures discretely optimized value transition into a continuous state, allowing dynamic parameter adjustments. Second, the optimization of the nonlinear function uses the D-value fitting method. Overall, the improved ADRC algorithm significantly enhances response speed to heading control commands for USVs, fortifying their resistance against wind and wave disturbances. Our proposed algorithm provides a new approach to achieve precise USV heading control.
{"title":"Active disturbance rejection heading control of USV based on parameter tuning via an improved pigeon-inspired optimization","authors":"Yuhang Liu, Chen Wei, Haibin Duan, Wanmai Yuan","doi":"10.1177/01423312241239484","DOIUrl":"https://doi.org/10.1177/01423312241239484","url":null,"abstract":"An improved active disturbance rejection control (ADRC) algorithm is proposed in this paper to enhance the heading control capabilities of unmanned surface vehicles (USVs) under wind and wave disturbances. The algorithm introduces two enhancements: parameter tuning and fitting, alongside the optimization of the nonlinear function in the ADRC algorithm. First, the parameter tuning employs an improved pigeon-inspired optimization (PIO) algorithm, which encompasses two strategies: the adaptive strategy and the wandering strategy. Parameter fitting ensures discretely optimized value transition into a continuous state, allowing dynamic parameter adjustments. Second, the optimization of the nonlinear function uses the D-value fitting method. Overall, the improved ADRC algorithm significantly enhances response speed to heading control commands for USVs, fortifying their resistance against wind and wave disturbances. Our proposed algorithm provides a new approach to achieve precise USV heading control.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141002828","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 : 2024-05-07DOI: 10.1177/01423312241247092
M. Hernandez-Gonzalez, Michael Basin
This paper proposes a predefined-time convergent stabilization controller for a class of nonlinear systems. First, a controller is introduced for linear systems where the convergent time is selected in advance, independent of initial conditions, and can be assigned as a parameter of a control input. The corresponding result is then obtained for a multidimensional system consisting of [Formula: see text] nonlinear differential equations. The block control technique is employed to consequently stabilize each state component by a virtual control until the real control appears. Finally, the presented result is applied to a multivariable nonlinear system to design a predefined-time convergent robust controller. To show effectiveness of the proposed convergent controller, numerical simulations have been carried out for a Van-der-Pol system and a 2-degree-of-freedom (2-DOF) helicopter model.
{"title":"Exponential-form predefined-time convergent controller and its applications to Van-der-Pol system and 2-DOF helicopter","authors":"M. Hernandez-Gonzalez, Michael Basin","doi":"10.1177/01423312241247092","DOIUrl":"https://doi.org/10.1177/01423312241247092","url":null,"abstract":"This paper proposes a predefined-time convergent stabilization controller for a class of nonlinear systems. First, a controller is introduced for linear systems where the convergent time is selected in advance, independent of initial conditions, and can be assigned as a parameter of a control input. The corresponding result is then obtained for a multidimensional system consisting of [Formula: see text] nonlinear differential equations. The block control technique is employed to consequently stabilize each state component by a virtual control until the real control appears. Finally, the presented result is applied to a multivariable nonlinear system to design a predefined-time convergent robust controller. To show effectiveness of the proposed convergent controller, numerical simulations have been carried out for a Van-der-Pol system and a 2-degree-of-freedom (2-DOF) helicopter model.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141004991","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 : 2024-05-06DOI: 10.1177/01423312241242514
Peng Chen, Yun Cheng, Yinlong Yuan, Liang Hua
In the textile industry, yarn tension control is directly related to product quality and production efficiency. Addressing the nonlinearities, uncertainties, and external disturbances encountered by tension control systems, this work initially establishes a mathematical model to describe the dynamic characteristics of yarn tension. Building upon this foundation, a yarn tension sliding mode control strategy based on an extended state observer (ESO) is proposed. This strategy employs the ESO to estimate and compensate for system uncertainties and disturbances. Subsequently, a sliding mode controller is designed for the compensated system, utilizing hyperbolic tangent functions for the reaching law, thereby enhancing the dynamic performance of the yarn tension control system. The stability of the controller is analyzed using Lyapunov theory. Recognizing the complexity of controller parameter tuning, an improved grey wolf optimizer (GWO) is introduced for further adjustment and optimization of the controller parameters. Finally, comparative simulations demonstrate that the designed controller maintains rapid response and high-precision dynamic characteristics even in the presence of external disturbances and noise. This underscores the promising application prospects of the proposed method in practical systems.
{"title":"Sliding mode tension control for the yarn winding process with extended state observer","authors":"Peng Chen, Yun Cheng, Yinlong Yuan, Liang Hua","doi":"10.1177/01423312241242514","DOIUrl":"https://doi.org/10.1177/01423312241242514","url":null,"abstract":"In the textile industry, yarn tension control is directly related to product quality and production efficiency. Addressing the nonlinearities, uncertainties, and external disturbances encountered by tension control systems, this work initially establishes a mathematical model to describe the dynamic characteristics of yarn tension. Building upon this foundation, a yarn tension sliding mode control strategy based on an extended state observer (ESO) is proposed. This strategy employs the ESO to estimate and compensate for system uncertainties and disturbances. Subsequently, a sliding mode controller is designed for the compensated system, utilizing hyperbolic tangent functions for the reaching law, thereby enhancing the dynamic performance of the yarn tension control system. The stability of the controller is analyzed using Lyapunov theory. Recognizing the complexity of controller parameter tuning, an improved grey wolf optimizer (GWO) is introduced for further adjustment and optimization of the controller parameters. Finally, comparative simulations demonstrate that the designed controller maintains rapid response and high-precision dynamic characteristics even in the presence of external disturbances and noise. This underscores the promising application prospects of the proposed method in practical systems.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141009055","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：