Article
Automation & Control Systems
Shubo Wang
Summary: This article investigates an adaptive robust control scheme based on barrier Lyapunov function for nonaffine nonlinear systems with unknown dynamics. The scheme converts the nonaffine system into an affine system and reconstructs the immeasurable states using a high-gain observer. It also incorporates a robust integral and a barrier Lyapunov function in the control design to reject unknown dynamics.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Zhen Tian, Qing-Chang Zhong, Beibei Ren, Jingqi Yuan
Summary: This paper proposes an improved UDE-based robust control strategy that can be applied to systems with both matched and mismatched uncertainties. By designing a modified reference model and using different control compensation terms, the stability and performance of the system are optimized.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Yeqin Wang, Beibei Ren, Qing-Chang Zhong
Summary: The article introduces a bounded UDE-based controller to handle systems with uncertainties, disturbances, and input constraints. By introducing an additional time-varying variable, the issue of integral windup is naturally avoided, ensuring that the controller output always satisfies the constraints.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Xiangyun Li, Qi Lu, Jiali Chen, Ning Jiang, Kang Li
Summary: To achieve safe and smooth robot-assisted healthcare task execution, real-time motion tracking controls and compliant physical human-robot interactions are crucial control objectives. This work develops a robust region tracking controller based on the uncertainty and disturbance estimator (UDE) for a robot manipulator. By using the potential function, the regional feedback error is derived to drive the robot manipulator end-effector to converge into the target region, enabling safe and compliant physical human-robot interaction. The UDE-based control framework integrates the regional feedback error seamlessly with the back-stepping control approach, utilizing the UDE to estimate and compensate for model uncertainties while requiring minimum model information for implementation. The stability of the closed-loop control system is analyzed using the Lyapunov method. Extensive experimental studies, including trajectory tracking, human-robot interaction, and benchmark comparison, are conducted to validate the effectiveness of the controller.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Automation & Control Systems
Yang Yang, Jie Tan, Dong Yue, Yu-Chu Tian, Yusheng Xue
Summary: This study introduces an output-based containment control strategy for a class of nonaffine nonlinear MASs, addressing uncertainties and directed topology. Different techniques are utilized for control and correction of MAS, showing that by selecting appropriate parameters, convergence errors of followers can be confined to a small neighborhood around the origin, demonstrating effective control performance.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Engineering, Electrical & Electronic
Said Oucheriah
Summary: This paper investigates the stabilizing control problem of the buck-boost converter and proposes a robust nonlinear controller based on the uncertainty and disturbance estimator scheme. The controller can effectively regulate the output voltage and has good robustness to unknown inputs and parameter uncertainties.
INTERNATIONAL JOURNAL OF ELECTRONICS
(2023)
Article
Automation & Control Systems
Te Zhang, Shiyao Li, Bo Zhu, Yuanlong Li, Tianjiang Hu
Summary: The UDE-based control approach is popular for its simplicity and effectiveness in rejecting input disturbances, but the transient performance issues of high-gain UDE are often overlooked. In this study, a classic UDE-based robust controller is designed for a linear system with various model uncertainties, and the singular-perturbation theory proves that small tracking errors can be achieved with a high gain for the UDE. A novel time-varying UDE (TV-UDE) is developed to improve transient performance, using a differential equation with a time-varying parameter. Simulation and experimental comparisons on an attitude control platform demonstrate the advantages of TV-UDE in avoiding performance issues of high-gain UDE.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Quanmin Zhu, Ruobing Li, Jianhua Zhang
Summary: This study proposes a model-free robust input-output decoupling control method using Nonlinear-Dynamic-Coupling Inversion/Inverter (NDCI) in a U-control framework. Two decouplers are derived using an input/output (I/O) coupling matrix function. A general existing theorem is proved for model-free sliding mode control (MFSMC) to lay the foundation for the NDCI. A multi-input and multi-output (MIMO) model-free decoupling U-control (MFDUC) platform is established to integrate the functionalities into a double closed-loop system framework. Transparent and comparative simulated bench tests are presented to validate the functionalities and configurations.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2023)
Article
Engineering, Marine
Jianming Miao, Wenchao Liu, Chao Peng, Xingyu Sun
Summary: This paper proposes a novel robust control strategy using combined uncertainty and disturbance estimator (UDE) and unscented Kalman filter (UKF) for the path-following control (PFC) of underactuated autonomous underwater vehicles (AUVs) under multiple uncertainties. The proposed strategy effectively handles both deterministic and stochastic uncertainties, and extensive simulations and analyses demonstrate its efficiency and robustness.
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Mechanical
M. Nidya, S. J. Mija, Jacob Jeevamma
Summary: This paper proposes a robust relatively optimal trajectory tracking control strategy for a class of uncertain nonlinear control affine systems under the effect of external disturbances. The proposed strategy integrates uncertainty and disturbance estimation with feedforward control and relatively optimal trajectory tracking control. It has the potential benefit on constraint satisfaction and robustness by minimizing tracking error and satisfying state and input constraints.
NONLINEAR DYNAMICS
(2022)
Article
Chemistry, Multidisciplinary
Ahmad Taher Azar, Drai Ahmed Smait, Sami Muhsen, Moayad Abdullah Jassim, Asaad Abdul Malik Madhloom AL-Salih, Ibrahim A. Hameed, Anwar Ja'afar Mohamad Jawad, Wameedh Riyadh Abdul-Adheem, Vincent Cocquempot, Mouayad A. Sahib, Nashwa Ahmad Kamal, Ibraheem Kasim Ibraheem
Summary: In this paper, a Nonlinear Higher Order Extended State Observer (NHOESO) is proposed to replace the Linear Extended State Observer (LESO) in Conventional Active Disturbance Rejection Control (C-ADRC) solutions. The NHOESO extends the standard LESO by incorporating a two-term smooth nonlinear function with saturation-like characteristics. It allows for precise observation of generalized disturbances with higher-order derivatives. The stability of the NHOESO is analyzed using the Lyapunov method. Simulation results on an uncertain nonlinear Single-Input-Single-Output (SISO) system with time-varying external disturbances demonstrate the effectiveness of the proposed NHOESO in handling generalized disturbances compared to other ESOs.
APPLIED SCIENCES-BASEL
(2023)
Article
Automation & Control Systems
Zhongwen Cao, Ben Niu, Guangdeng Zong, Xudong Zhao, Adil M. M. Ahmad
Summary: This article investigates the active disturbance rejection-based distributed event-triggered bipartite consensus problem of nonaffine nonlinear multiagent systems with input saturation. An event-triggered mechanism is employed for each follower to reduce the update frequency of the control signal. The active disturbance rejection technology, a combination of the extended state observer and the tracking differentiator, is introduced to estimate uncertainties and address complexity issues in the control law design.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Saeed DaneshvarDehnavi, Cesar Negri, Stephen Bayne, Michael Giesselmann
Summary: With the advancement of technology, the sensitivity of electric equipment and loads to power quality issues has increased. A Dynamic Voltage Restorer (DVR) series compensator is proposed as a cost-effective solution to detect faults and protect sensitive loads from voltage distortions. The control system based on Uncertainty and Disturbance Estimator (UDE) is designed to improve the DVR response in compensating load voltage under different power quality issues. The proposed control system demonstrates robustness, simplified design, good harmonic rejection, low tracking error, fast response, and sinusoidal reference tracking.
Article
Automation & Control Systems
Yang Yang, Xuefeng Si, Dong Yue, Jie Tan
Summary: This article addresses the time-varying formation tracking issue for a class of uncertain nonaffine nonlinear multiagent systems with communication delays. The transformation of the nonaffine problem into an affine problem using active disturbance rejection control, as well as the approximation and real-time compensation of individual followers' uncertainties, contribute to the effectiveness of the proposed control strategy. Local information utilization from neighboring followers along with theoretical stability analysis using Lyapunov-Krasovskii function are key aspects in demonstrating the stability and performance of the control strategy through simulation examples.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Computer Science, Artificial Intelligence
Xiaohui Yan, Mou Chen, Gang Feng, Qingxian Wu, Shuyi Shao
Summary: This article proposes an adaptive fuzzy control scheme based on HODO and DSC techniques for nonlinear systems with input saturation and external disturbances. By utilizing backstepping method and Lyapunov analysis, it is proven that all signals in the system are bounded and the tracking error converges to a compact set.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Automation & Control Systems
Jun-Min Wang, Jun-Jun Liu, Beibei Ren, Jinhao Chen
Article
Automation & Control Systems
Jinhao Chen, Beibei Ren, Qing-Chang Zhong
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2016)
Article
Mathematics, Applied
Yunong Zhang, Yao Chou, Jinhao Chen, Zhijun Zhang, Lin Xiao
JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS
(2013)
Article
Computer Science, Software Engineering
Christopher Lourenco, Jinhao Chen, Erick Moreno-Centeno, Timothy A. Davis
Summary: SPEX Left LU is a software package for exactly solving unsymmetric sparse linear systems with integral, rational, or decimal matrices. It has important applications in benchmarking linear solvers' stability and accuracy.
ACM TRANSACTIONS ON MATHEMATICAL SOFTWARE
(2022)
Proceedings Paper
Computer Science, Hardware & Architecture
Jinhao Chen, Timothy A. Davis, Christopher Lourenco, Erick Moreno-Centeno
Summary: This paper introduces an efficient framework based on Integer-Preserving Gaussian Elimination, discusses the development of sparse LU/Cholesky column/row-replacement update and sparse rank-1 update/downdate, and showcases the performance of updating exact factorizations.
PROCEEDINGS OF IA3 2021: 2021 IEEE/ACM 11TH WORKSHOP ON IRREGULAR APPLICATIONS: ARCHITECTURES AND ALGORITHMS
(2021)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Ariful Azad, Mohsen Mahmoudi Aznaveh, Scott Beamer, Mark Blanco, Jinhao Chen, Luke D. Alessandro, Roshan Dathathri, Tim Davis, Kevin Deweese, Jesun Firoz, Henry A. Gabb, Gurbinder Gill, Balint Hegyi, Scott Kolodziej, Tze Meng Low, Andrew Lumsdaine, Tugsbayasgalan Manlaibaatar, Timothy G. Mattson, Scott McMillan, Ramesh Peri, Keshav Pingali, Upasana Sridhar, Gabor Szarnyas, Yunming Zhang, Yongzhe Zhang
2020 IEEE INTERNATIONAL SYMPOSIUM ON WORKLOAD CHARACTERIZATION (IISWC 2020)
(2020)
Proceedings Paper
Automation & Control Systems
Chandika Annasiwatta, Jinhao Chen, Jordan M. Berg, Ayrton Bernussi, Zhaoyang Fan, Beibei Ren
2016 AMERICAN CONTROL CONFERENCE (ACC)
(2016)
Proceedings Paper
Automation & Control Systems
Jinhao Chen, Beibei Ren, Qing-Chang Zhong
2015 AMERICAN CONTROL CONFERENCE (ACC)
(2015)
Proceedings Paper
Automation & Control Systems
Yunong Zhang, Wenchao Lao, Yonghua Yin, Lin Xiao, Jinhao Chen
2012 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS (ICAL)
(2012)