Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 6, Issue 14, 20 September 2012
Volumes & issues:
Volume 6, Issue 14
20 September 2012
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- Author(s): S. Mondal and C. Mahanta
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2157 –2167
- DOI: 10.1049/iet-cta.2011.0478
- Type: Article
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p.
2157
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(11)
In this study, an adaptive second-order sliding mode (SOSM) controller is proposed to control a laboratory helicopter called the twin-rotor multi-input–multi-output system (TRMS). The design objectives of the controller are to stabilise the TRMS in significant cross couplings, reach a desired position and accurately track a specified trajectory. The TRMS model is divided into a horizontal and a vertical subsystem (VS). The cross coupling existing between the two subsystems is considered as the system uncertainty. A simple adaptive tuning law is developed for the SOSM controller to deal with the bounded system uncertainty. The major advantage offered by this adaptive SOSM controller is that advance knowledge about the upper bound of system uncertainty is not a necessary requirement. The adaptive SOSM controller for the VS uses a proportional plus integral sliding surface to counter the offset present in the pitch angle. System robustness and the stability of the controller are proved by using the Lyapunov criterion. Apart from imparting robustness, the proposed adaptive SOSM controller reduces undesired chattering in the control input and thus is suitable for application in practical motion control applications. The proposed control scheme is validated by simulation results and is compared against the existing proportional-integral-derivative controllers to show that the overall performance of the proposed adaptive SOSM controller is better in the aspects of error and control indices. - Author(s): S.I. Seleme ; A.H.R. Rosa ; L.M.F. Morais ; P.F. Donoso-Garcia ; P.C. Cortizo
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2168 –2178
- DOI: 10.1049/iet-cta.2011.0218
- Type: Article
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2168
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This study addresses the control of boost converters applied for power-factor correction in universal-line applications, using adaptive non-linear control based in passivity. The controller design is independent of the operating point and the gains of the control law have a clear physical interpretation. Discussion of the control approach with unknown load is provided. Robustness analysis of the proposed approach and comparison with standard approaches are made. The performance of the proposed power factor correction (PFC) rectifier was evaluated on an experimental 630 W universal-line PFC prototype. - Author(s): J. Zhang ; L. Yang ; G. Shen
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2179 –2187
- DOI: 10.1049/iet-cta.2011.0418
- Type: Article
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Owing to centre of gravity (C.G.) variations, an aircraft may deviate from its nominal dynamics, which poses special problems to the flight control system. To overcome the limitations of accurate mathematical model and poor robust performance of the conventional method, a new hybrid C.G. estimation-sliding-mode adaptive control approach is proposed. A two-loop sliding-mode based adaptive control scheme is designed to guarantee the robustness of the closed-loop system towards potential uncertainties and disturbances. In addition, online C.G. estimation based on adaptive weight data fusion is introduced to guarantee smaller dynamic inversion errors. The parameter adaptation rules for the hybrid adaptive controller are obtained by the Lyapunov stability theory and Barbalat’s lemma. The simulation results demonstrate that the proposed approach can quickly adapt to the changing dynamics of the aircraft and provide consistent performance under varying C.G. locations. - Author(s): R. Muñoz-Mansilla ; D. Chaos ; J. Aranda ; J.M. Díaz
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2188 –2197
- DOI: 10.1049/iet-cta.2011.0225
- Type: Article
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A multivariable non-linear quantitative feedback theory (QFT) robust control approach is proposed for the design of tracking control foran underactuated vehicle with uncertainties in the model parameters.The system under study consists of a hovercraft equipped with two longitudinal thrusters. It is modelled as a second-order non-linear system with plant uncertainties and with less degree of freedom for actuation.The approach to non-linear QFT synthesis is based on a local linearisation of the non-linear plant about closed-loop acceptable outputs. The method solves the problem of uncertainties in the model parameters and proves robust performance of the tracking control of the underactuated hovercraft. - Author(s): J.H. Fan ; Y.M. Zhang ; Z.Q. Zheng
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2198 –2208
- DOI: 10.1049/iet-cta.2011.0713
- Type: Article
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2198
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A set invariance condition for a piecewise continuous time-varying system is developed and applied to the fault-tolerant control problem against the actuator effectiveness loss for linear systems subject to system uncertainties and actuator saturation in this study. Linear matrix inequality conditions are proposed to compute invariant ellipsoidal sets. Discussions on system performance optimisation are given including reduction on computational complexity, maximisation of the domain of attraction and disturbance rejection. The proposed design techniques are applied to an unstable multi-input and multi-output system and to the flight control of a non-linear unmanned aerial vehicle model subject to the control effectiveness loss fault in the elevator. - Author(s): T.M. Buttini and R. Nicoletti
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2209 –2215
- DOI: 10.1049/iet-cta.2011.0782
- Type: Article
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In this work, a method of computing PD stabilising gains for rotating systems is presented based on the D-decomposition technique, which requires the sole knowledge of frequency response functions. By applying this method to a rotating system with electromagnetic actuators, it is demonstrated that the stability boundary locus in the plane of feedback gains can be easily plotted, and the most suitable gains can be found to minimise the resonant peak of the system. Experimental results for a Laval rotor show the feasibility of not only controlling lateral shaft vibration and assuring stability, but also helps in predicting the final vibration level achieved by the closed-loop system. These results are obtained based solely on the input–output response information of the system as a whole. - Author(s): J.J. Rubio
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2216 –2225
- DOI: 10.1049/iet-cta.2011.0322
- Type: Article
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2216
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In this study, the trajectory tracking problem of robotic arms is considered. To solve this problem, two novel modified optimal controllers based on neural networks are proposed. The uniform stability of both the tracking error and approximation error for the aforementioned controllers is guaranteed by means of a Lyapunov-like analysis. The effectiveness of the proposed controllers is verified by simulations. - Author(s): D. Firoozi and M. Namvar
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2226 –2234
- DOI: 10.1049/iet-cta.2011.0347
- Type: Article
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p.
2226
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This study investigates the effect of noisy measurements of the angular rate in a non-linear attitude estimator for satellites. The attitude estimator uses measurement of a single attitude sensor such as Sun, Earth-horizon, star tracker or magnetometer together with a rate gyro, and guarantees exponential convergence of the attitude estimation error to zero under a no-noise condition. In view of a realistic situation where the presence of noise in gyro measurement is not negligible, this study presents stochastic and deterministic upper bounds for the attitude estimation error resulting from noisy angular rate measurement. A realistic simulation is presented to illustrate the results. - Author(s): S. Solmaz and S.Ç. Başlamışlı
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2235 –2247
- DOI: 10.1049/iet-cta.2011.0533
- Type: Article
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p.
2235
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In this study the author develop a practically stable switched non-linear observer bank for simultaneously estimating the vehicle sideslip angle and the road friction coefficient. Each individual non-linear state estimator in the observer bank is based on a non-linear lateral dynamics vehicle model that is parametrised with a distinct road friction coefficient. The inputs to the non-linear observers are typical signals that are available within lateral stability control systems, which include the vehicle speed, steer angle, lateral acceleration and the yaw rate. The authors show that the suggested non-linear state estimator is practically stable under arbitrary switching. Finally, the authors provide numerical simulations to demonstrate the efficacy of our switched non-linear observer design technique. - Author(s): Y. Yang and J.M. Lee
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2248 –2256
- DOI: 10.1049/iet-cta.2012.0196
- Type: Article
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2248
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This study proposes a fractional programming formulation and its solution strategy to construct a robust control Lyapunov function for control affine systems of relatively small size in the presence of disturbances and input constraints. The original formulation is recast as a recursive optimisation problem, and a single optimisation variable is heuristically selected at each round to gradually enlarge the region of attraction for a quadratic Lyapunov function. Two case studies with actuator saturation show the efficacy of the proposed approach. - Author(s): R. de Castro ; R.E. Araújo ; D. Freitas
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2257 –2268
- DOI: 10.1049/iet-cta.2011.0424
- Type: Article
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Spurred by the problem of identifying, in real-time, the adhesion levels between the tyre and the road, a practical, linear parameterisation (LP) model is proposed to represent the tyre friction. Towards that aim, results from the theory of function approximation, together with optimisation techniques, are explored to approximate the non-linear Burckhardt model with a new LP representation. It is shown that, compared with other approximations described in the literature, the proposed LP model is more efficient, that is, it requires a smaller number of parameters, and provides better approximation capabilities. Next, a modified version of the recursive least squares, subject to a set of equality constraints on parameters, is employed to identify the LP in real time. The inclusion of these constraints, arising from the parametric relationships present when the tyre is in free-rolling mode, reduces the variance of the parametric estimation and improves the convergence of the identification algorithm, particularly in situations with low tyre slips. The simulation results obtained with the full-vehicle CarSim model under different road adhesion conditions demonstrate the effectiveness of the proposed LP and the robustness of the friction peak estimation method. Furthermore, the experimental tests, performed with an electric vehicle under low-grip roads, provide further validation of the accuracy and potential of the estimation technique. - Author(s): L. Ravanbod ; D. Noll ; P. Apkarian
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2269 –2278
- DOI: 10.1049/iet-cta.2011.0308
- Type: Article
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p.
2269
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The linear quadratic Gaussian-loop transfer recovery procedure is a classical method to desensibilise a system in closed loop with respect to disturbances and system uncertainty. Here an extension is discussed, which avoids the usual loss of performance in LTR, and which is also applicable for non-minimum phase systems. It is also shown how the idea can be extended to other control structures. In particular, it is shown how proportional integral derivative controllers can be desensibilised with this new approach. The method is tested on several examples, including in particular the lateral flight control of an F-16 aircraft. - Author(s): C. Peng ; H. Xu ; Q. Zou ; J. Zhang
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2279 –2291
- DOI: 10.1049/iet-cta.2011.0244
- Type: Article
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In this study, an inversion-based robust feedforward–feedback two-degree-of-freedom (2DOF) control approach is proposed to improve the tracking performance and robustness for multi-input multi-output (MIMO) systems with uncertainty. The proposed approach enhances trajectory tracking precision by robust-inversion feedforward control and combats the adverse effects caused by system uncertainty, coupling and disturbance by H∞ mixed sensitivity robust MIMO feedback control. The main contributions of this paper are as follows: (i) a combination of robust diagonal dominance-based static pre-compensation and inversion-based robust feedforword–feedback 2DOF control, (ii) extending the single-input single-output (SISO) robust-inversion-based feedforward control to MIMO system by introducing the optimal coefficients which not only consider the uncertainties of diagonal transfer functions, but also take the non-diagonal elements in MIMO transfer function matrix into account, (iii) a systematic integration of H∞ mixed sensitivity robust feedback control and inversion feedforward control. A numerical example and simulation results illustrate a better performance obtained by the proposed control approach compared with H∞ mixed sensitivity robust feedback control and 2DOF control approach combined with the regular SISO robust-inversion-based feedforward control and robust feedback control. - Author(s): H.-J. Ma and G.-H. Yang
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2292 –2307
- DOI: 10.1049/iet-cta.2011.0265
- Type: Article
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A framework for active fault tolerant control against time-varying actuator fault is investigated, aiming to improve the robustness, sensitivity of fault detection and the rapidity of whole diagnosis and compensation procedure. A high-gain observer technique is extended to design a residual signal with the estimation error of system states and the derivatives of system output. Then, a compensator for actuator fault is directly constructed based on the fault information from the diagnosis procedure. A explicit relationship between the robustness, rapidity and sensitivity of the proposed fault diagnosis scheme with the observer parameters is strictly derived. By preselecting the observer/controller parameters, the set of detectable faults, the time of detection and compensation and the bound of the closed-system signals are quantified. The theoretical results are illustrated by a simulation example of surface-mounted permanent magnet synchronous motors. - Author(s): Z.-G. Wu ; J.H. Park ; H. Su ; B. Song ; J. Chu
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2308 –2317
- DOI: 10.1049/iet-cta.2012.0235
- Type: Article
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In this study, the reliable H∞ filtering problem is studied for discrete-time singular systems with randomly occurring delays and sensor failures. Two stochastic variables, that are mutually independent but obey the Bernoulli distribution, are introduced to govern the random occurrences of the discrete-time-varying delay and the infinite-distributed delay. The failures of sensors are quantified by a stochastic variable taking values in a given interval. A discrete-time homogeneous Markov chain is used to represent the stochastic behaviour of sensor failures. The main purpose of the addressed reliable H∞ filtering problem is to design a reliable mode-dependent filter such that the filtering error dynamics is not only stochastically admissible but also achieves a prescribed H∞ performance level. A sufficient condition is first established for the existence of the desired filter, and then, the corresponding solvability condition for the desired filter gains is established. The case of Markov chain with partially unknown transition probabilities is also considered. A numerical example is provided to illustrate the effectiveness of the proposed method. - Author(s): M. Shen and G.-H. Yang
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2318 –2325
- DOI: 10.1049/iet-cta.2012.0007
- Type: Article
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In this study, the stability analysis and synthesis problems for continuous Markov jump linear systems with partly known transition probabilities are investigated. The partly known transition probabilities cover the cases that some elements are known, some are unknown with known lower and upper bounds and some are completely unknown. By making full use of the continuous transition probability matrix property, that is, the sum of transition probabilities is 0 for each row, a new method for the analysis and synthesis is presented in terms of solvability of a set of linear matrix inequalities. Compared to the existing results in the literature, it is shown that the proposed method is more effective to deal with the considered transition probabilities. Numerical examples are given to show the validity of the proposed method. - Author(s): H. Du ; C. Qian ; M.T. Frye ; S. Li
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2326 –2336
- DOI: 10.1049/iet-cta.2011.0626
- Type: Article
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In this study, the authors consider the problem of global finite-time stabilisation for a class of non-linear systems by bounded feedback control. First, we use the generalised adding a power integrator and the nested saturation methods to design a saturated homogeneous state feedback controller. Under this bounded controller, a class of non-linear systems comprised of a chain of power integrators perturbed by uncertain bounded non-linearities can be globally stabilised in a finite time. Second, as an application of previous developed results, a bounded finite-time output feedback controller is designed for a class of special non-linear systems, which is comprised by a chain of integrators plus known bounded non-linearities. To estimate the unknown states in a finite time, a finite-time convergent observer is constructed. By substituting the estimated states into the state feedback stabiliser, it can be guaranteed that the closed-loop system is globally finite-time stable.
Adaptive second-order sliding mode controller for a twin rotor multi-input–multi-output system
Evaluation of adaptive passivity-based controller for power factor correction using a boost converter
New hybrid adaptive control approach for aircraft with centre of gravity variation
Application of quantitative feedback theory techniques for the control of a non-holonomic underactuated hovercraft
Robust fault-tolerant control against time-varying actuator faults and saturation
PD controller synthesis from open-loop response measurements of rotating system
Modified optimal control with a backpropagation network for robotic arms
Analysis of gyro noise in non-linear attitude estimation using a single vector measurement
Simultaneous estimation of road friction and sideslip angle based on switched multiple non-linear observers
Design of robust control Lyapunov function for non-linear affine systems with uncertainty
Real-time estimation of tyre–road friction peak with optimal linear parameterisation
An extension of the linear quadratic Gaussian-loop transfer recovery procedure
Inversion-based robust feedforward–feedback two-degree-of-freedom control approach for multi-input multi-output systems with uncertainty
Detection and adaptive accommodation for actuator faults of a class of non-linear systems
Reliable H∞ filtering for discrete-time singular systems with randomly occurring delays and sensor failures
New analysis and synthesis conditions for continuous Markov jump linear systems with partly known transition probabilities
Global finite-time stabilisation using bounded feedback for a class of non-linear systems
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- Author(s): Hiroaki Mukaidani and Toru Yamamoto
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2337 –2345
- DOI: 10.1049/iet-cta.2011.0539
- Type: Article
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This study investigates Nash games for a class of multiparameter singularly perturbed stochastic systems governed by Itô’s differential equation with Markov jump parameters. First, in order to obtain Nash equilibrium strategies, cross-coupled stochastic algebraic Riccati equations (CSAREs) are formulated. Moreover, necessary condition for the existence of solution for CSAREs is also developed. It is noteworthy that this is the first time that conditions for the existence of stochastic equilibria have been derived based on the solutions of sets of CSAREs. After establishing an asymptotic structure with positive definiteness for CSAREs solutions, feasible numerical algorithms that are based on Newton’s method and the linear matrix inequality (LMI) for solving CSAREs is considered. Finally, the authors provide a numerical example to verify the efficiency of the proposed algorithms. - Author(s): Z. Zuo ; Y. Fu ; Y. Wang
- Source: IET Control Theory & Applications, Volume 6, Issue 14, p. 2346 –2350
- DOI: 10.1049/iet-cta.2012.0491
- Type: Article
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p.
2346
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This study reconsiders the problem of reachable set bounding for a class of linear systems in the presence of both discrete and distributed delays. Some new criteria are established where the useful term is retained when we estimate the upper bound of the derivative of the Lyapunov–Krasovskii functional. The free-weighting matrix technique is utilised to realise such a purpose. Moreover, the special structure constraint on the final expression of the derivative of the Lyapunov functional in the previous result of authors is removed. Consequently, a tighter bound of the reachable set is obtained. Numerical examples are given to illustrate the merit of the proposed method comparing with the existing ones.
Nash strategy for multiparameter singularly perturbed Markov jump stochastic systems
Results on reachable set estimation for linear systems with both discrete and distributed delays
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