Trajectory Linearization Control Based Output Tracking Method for Nonlinear Uncertain System Using Linear Extended State Observer

Shao, Xingling; Wang, Honglun

doi:10.1002/asjc.1053

Cited by 15 publications

(7 citation statements)

References 16 publications

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“…Therefore, to improve the accuracy of the control-oriented air-feed system model, a linear extended state observer (ESO) [26,27] is applied to estimate d(t). Therefore, to improve the accuracy of the control-oriented air-feed system model, a linear extended state observer (ESO) [26,27] is applied to estimate d(t).…”

Section: Disturbance Observermentioning

confidence: 99%

Control‐oriented modeling and robust nonlinear triple‐step controller design for an air‐feed system for polymer electrolyte membrane fuel cells

Chen

Gong

et al. 2019

Asian Journal of Control

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The efficient operation of polymer electrolyte membrane fuel cells (PEMFCs) significantly relies on the reliable control of air-feed system. The core control objective in air-feed system is to track a pre-defined reference of the oxygen excess ratio to avoid oxygen starvation and stack damage. In this paper, we focus on the modeling of the air-feed system in a PEMFC and the robust nonlinear controller design for the oxygen excess ratio tracking control. To facilitate the subsequent nonlinear controller design, a specific affine-like, second-order, control-oriented model of oxygen excess ratio dynamic behavior is developed, and the modeling uncertainty is estimated and compensated by using an extended state observer (ESO). The control-oriented model is verified via a high-fidelity plant model. A nonlinear controller for oxygen excess ratio tracking control is proposed based on the triple-step technique which is robust against the system disturbances. The tuning rule of the controller parameters is discussed in the scheme of the linear system. Finally, simulations are conducted to demonstrate the effectiveness and advantages of the proposed controller under variant operating conditions compared with baseline controllers.

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Section: Disturbance Observermentioning

confidence: 99%

Control‐oriented modeling and robust nonlinear triple‐step controller design for an air‐feed system for polymer electrolyte membrane fuel cells

Chen

Gong

et al. 2019

Asian Journal of Control

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“…Although the observer technology has been widely used in manipulator control, most of the observers in this stage are based on linear models or linear systems [17], [18]. To estimate uncertain perturbations, many new methods are proposed for observer design [19]- [22]. By reducing the sensitivity of the controller to uncertainty, [23]- [27] propose solutions from different perspectives.…”

Section: Introductionmentioning

confidence: 99%

Manipulator Trajectory Tracking of Fuzzy Control Based on Spatial Extended State Observer

et al. 2020

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This paper mainly studies the trajectory tracking control problem of the manipulator of TianGong-2 when capturing floating objects in the experimental cabin. Microgravity environment will lead to the existing control system of space robot can not produce good control effect. Different gravity environments change the design requirements of space robots, and the ground test cannot meet these space requirements. In this paper, a fuzzy control strategy based on a spatial extended state observer(FC-SESO) is proposed to solve these inconsistent problems. First, a spatial extended state observer is designed to estimate the influence of disturbance on the system. In order to estimate the disturbance quickly and accurately, a disturbance model including gust is established. Second, in order to ensure the rapid convergence of the desired trajectory, the fuzzy control law is derived. Based on Lyapunov stability theory, the stability of the control system based on the spatial extended state observer is proven. Finally, the proposed system is simulated and captured on the Tiangong-2 manipulator platform to verify the effectiveness of the control algorithm. INDEX TERMS Fuzzy control, microgravity, spatial extended state observer, trajectory tracking control.

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“…El control por linealización de trayectoria (TLC) es una técnica nueva que combina inversión dinámica de lazo abierto y una realimentación lineal variante en el tiempo (LTV) lo cual garantiza que la salida alcance estabilidad exponencial a lo largo de la trayectoria de referencia (Xingling and Honglun (2016)). Por este motivo la técnica TLC, capaz de rechazar perturbaciones en forma natural, se ha aplicado en elárea militar en el problema de seguimiento de trayectorias en misiles (ver, p. ej.…”

Section: Introductionunclassified

Control de trayectorias basado en álgebra lineal

Scaglia

Serrano

Albertos

2020

Rev. iberoam. autom. inform. ind.

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<p class="p1">En este tutorial se resumen las principales características de una nueva metodología de diseño de sistemas de control para el seguimiento de trayectorias en procesos no lineales. Esta metodología, denominada LAB (Linear Algebra Based), fue presentada por los autores hace más de diez años y ha tenido una fuerte repercusión por su sencillez y facilidad de aplicación, si bien no es aplicable para algunos problemas de seguimiento en sistemas no lineales. Se exponen las etapas en el diseño de un controlador LAB, tanto en tiempo continuo como en discreto. La aplicación al control de la trayectoria de un robot móvil, en tiempo continuo, sirve para ilustrar el desarrollo e implementación del control. Se analizan algunas propiedades del sistema controlado y se resaltan las condiciones de aplicación. Numerosas referencias facilitan el desarrollo de algunas características y su aplicación en diversos campos de la robótica y del control de procesos en general.</p>

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Trajectory Linearization Control Based Output Tracking Method for Nonlinear Uncertain System Using Linear Extended State Observer

Cited by 15 publications

References 16 publications

Control‐oriented modeling and robust nonlinear triple‐step controller design for an air‐feed system for polymer electrolyte membrane fuel cells

Control‐oriented modeling and robust nonlinear triple‐step controller design for an air‐feed system for polymer electrolyte membrane fuel cells

Manipulator Trajectory Tracking of Fuzzy Control Based on Spatial Extended State Observer

Control de trayectorias basado en álgebra lineal

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