Robust Finite-Time Output Feedback Control for Systems With Unpredictable Time-Varying Disturbances

Wang, Huiming; Zhang, Qiyao; Xian, Juan; Chen, I‐Ming

doi:10.1109/access.2020.2980879

Cited by 15 publications

(11 citation statements)

References 43 publications

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“…To solve the unmeasurable problem, some schemes in [26][27][28] have adopted an observer to estimate unmeasurable states. And a high observer gain should be chosen to guarantee the observation precision.…”

Section: Problem Description and Purposes Of This Papermentioning

confidence: 99%

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Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Kong¹,

Wang²,

Yan³

2020

Preprint

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For the flexible joint manipulator control system (FJMCS) with unmeasurable states, a novel partial states feedback control (PSFC) is proposed. Firstly, the unmeasurable states and the uncertainties are observed by a high-gain observer (HGO) simultaneously. Then, a dynamic surface controller is proposed based on the output of the HGO. The newly proposed controller has several advantages over existing methods. First, the proposed controller not only uses the estimate states to avoid using unmeasurable states, but also uses the estimation of uncertainties to enhance the robustness of FJMCS. Second, a novel spike suppression function (SSF) is developed to avoid the estimation spike problem in the existing HGO-based controllers. The closed-loop system stability is proved by the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed controller.

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Section: Problem Description and Purposes Of This Papermentioning

confidence: 99%

“…However, an undesirable spike problem may be caused by the high observer gain (see [29][30]). To explain the spike problem, the high-gain observer in [28] can be give as following: (10) where e is the e constant. t is the time and the initial time is 0 in this paper.…”

Section: Problem Description and Purposes Of This Papermentioning

confidence: 99%

Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Kong¹,

Wang²,

Yan³

2020

Preprint

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“…Additionally, the ground effect and external disturbances can further complicate the design of controllers for the quadcopter. In order to deal with the control problem of such systems, a number of control algorithms were studied, such as a proportional-integral-derivative (PID) controller in [4], backstepping method in [5], a robust sliding mode controller (SMC) in [6], a second-order SMC subject to a known mismatched term in [7], a disturbance-observer-based robust algorithm coping with unpredictable time-varying disturbances in [8], and a resilient approach in [9]. Although many control techniques were investigated, designing highperformance controllers for quadcopters remains challenging and is widely undertaken in the scientific community.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

et al. 2020

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Nowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing task, which always is devastatingly influenced by the ground effect and external disturbances. In this paper, we present an autonomous quadcopter landing algorithm allowing the vehicle to land robustly and precisely onto a heaving platform. Firstly, a robust control algorithm addressing the altitude flight under the ground effect and external disturbances is derived. We strictly prove the closed-loop system stability by using the Lyapunov theory. Secondly, a landing target state estimator is proposed to provide state estimations of the moving landing target. In addition, we propose a landing procedure to ensure the landing task is achieved safely and reliably. Finally, we use a DJI-F450 drone equipped with an infrared sensor and a laser ranging sensor as the experimental quadcopter platform and conduct experiments to evaluate the performance of our new algorithm in real flight conditions. The experimental results demonstrate the effectiveness of the proposed method. INDEX TERMS Autonomous landing, precision landing, moving target, quadcopter, heaving platform, ship deck, robust control, sliding mode control, disturbance observer.

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

Section: Introductionmentioning

confidence: 99%

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

Zhang

et al. 2020

Applied Sciences

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

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Robust Finite-Time Output Feedback Control for Systems With Unpredictable Time-Varying Disturbances

Cited by 15 publications

References 43 publications

Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

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

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