Dynamic Subsystem

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Y Yan-feng - One of the best experts on this subject based on the ideXlab platform.

  • Second-Order Non-Singular Terminal Sliding Mode Optimal Control of Uncertain Flexible Manipulator
    2018 IEEE 8th Annual International Conference on CYBER Technology in Automation Control and Intelligent Systems (CYBER), 2018
    Co-Authors: Qinyuan Xu, Yanmin Wang, Weihua Wang, Y Yan-feng
    Abstract:

    For a two-link flexible manipulator with uncertainty, this paper presents a optimal control approach by using second-order nonsingular terminal sliding mode(NTSM). Aiming at its non-minimum characteristic, the output redefinition technology is firstly utilized. Then a two-layer sliding surface is designed with purpose of adding the relative degree of the system, and further eliminating the headache chattering problem. Moreover, genetic algorithm is combined for the stability of zero-Dynamic Subsystem for better design parameters of second-order NTSM. Simulations are provided to verify the effectiveness of the proposed method.

  • High-order terminal sliding-mode control of uncertain systems with mismatched disturbance
    Proceedings of the 32nd Chinese Control Conference, 2013
    Co-Authors: Minghao Zhou, Y Yan-feng, Bin Chen
    Abstract:

    This paper proposes a hierarchical high-order terminal sliding-mode control method for a class of uncertain multivariable systems with mismatched disturbances. Based on the block controllable forms of multivariable systems, a non-singular terminal sliding-mode manifold is utilized and a second-order sliding-mode control law is designed. The input-output Subsystem can converge to the equilibrium points within finite time, and the internal Dynamic Subsystem can converge to the neighborhood of the equilibrium points. The proposed high-order sliding-mode control is smooth, the chattering can be effectively eliminated, and the system is robust to both matched and mismatched uncertainties. The simulation results validate the method.

  • Nonsingular terminal sliding mode control of uncertain two-link flexible manipulators
    2009 35th Annual Conference of IEEE Industrial Electronics, 2009
    Co-Authors: Y Yan-feng, Xing Huo Yu
    Abstract:

    This paper proposes a nonsingular terminal sliding mode control for a two-link flexible manipulator. The flexible robotic system is decomposed into an input-output Subsystem and an internal Subsystem. A novel inverse Dynamics nonsingular terminal sliding mode controller is designed to make the input-output Subsystem converge to its equilibrium point in finite time. In order to achieve good performance of zero Dynamics of the system, six parameters of the controller are optimized by a genetic algorithm. Furthermore, a bounded convergence region is obtained using Lyapunov stability theory to guarantee the stability of the zero Dynamic Subsystem with uncertain parameters, which leads to asymptotical stability of the whole flexible manipulator system. Simulation results are presented to validate the design.

  • Based on Parameter Optimization and FLC Nonsingular Terminal Sliding Mode Controller of a Two-Link Flexible Manipulator
    2007 IEEE International Fuzzy Systems Conference, 2007
    Co-Authors: Xuemei Zheng, Jim Platts, Y Yan-feng
    Abstract:

    The robotic system of a two-link flexible manipulator is decomposed into an input-output Subsystem and a zero Dynamics Subsystem using the input-output linearization technique. A novel inverse Dynamics nonsingular terminal sliding mode controller is designed to make the input-output Subsystem converge to its equilibrium point in finite time. The parameters of the zero Dynamic Subsystem are optimized by a genetic algorithm so that the zero Dynamics Subsystem is asymptotically stable at equilibrium point and finally the whole original flexible manipulator system is guaranteed to be asymptotically stable. Additionally, in order to overcome the chattering, this paper adapts a fuzzy logic controller to realize the nonlinear switching function. Simulation results are presented to validate the design.

  • Second-order terminal sliding mode control of uncertain multivariable systems
    International Journal of Control, 2007
    Co-Authors: Y Yan-feng, Yongxing Wang, Xiao Han, Yongqiang Wang, Xiaowei Yu
    Abstract:

    A second-order terminal sliding mode controller for uncertain multivariable systems is proposed in this paper. The controller adopts the hierarchical control structure. The paper derives the state transform matrices which are used to transform a multivariable linear system to the block controllable form consisting of two Subsystems, an input-output Subsystem and a stable internal Dynamic Subsystem. The proposed controller utilizes a non-singular terminal sliding mode manifold for the input-output Subsystem to realize fast convergence and better tracking precision. Meanwhile, a chattering-free second-order terminal sliding mode control law is presented. The stability of uncertain multivariable systems can be realized using the proposed controller. A derivative estimator is utilized in the paper to estimate the derivatives of the sliding mode functions for the controller. The simulation results are presented to validate the design method.

W. Greblicki - One of the best experts on this subject based on the ideXlab platform.

  • Continuous-time Hammerstein system identification
    IEEE Transactions on Automatic Control, 2000
    Co-Authors: W. Greblicki
    Abstract:

    A continuous-time Hammerstein system, i.e., a system consisting of a nonlinear memoryless Subsystem followed by a linear Dynamic one, is identified. The system is driven and disturbed by white random signals. The a priori information about both Subsystems is nonparametric, which means that functional forms of both the nonlinear characteristic and the impulse response of the Dynamic Subsystem are unknown. An algorithm to estimate the nonlinearity is presented and its pointwise convergence to the true characteristic is shown. The impulse response of the Dynamic part is recovered with a correlation method. The algorithms are computationally independent. Results of a simulation example are given.

  • Recursive identification of continuous-time Wiener systems
    International Journal of Control, 1999
    Co-Authors: W. Greblicki
    Abstract:

    Recursive algorithms to identify both Subsystems of a continuous-time Wiener system are presented. The system is driven and disturbed by Gaussian white random signals. The impulse response of the linear Dynamic Subsystem is recovered with a correlation method. It is shown that the inverse of the non-linear characteristic of the other Subsystem is a regression function. Then, to recover the inverse, two estimates are presented. The algorithms converge to the unknown impulse response, and the inverse of the characteristic, respectively. Convergence rates are presented. Moreover, results of simulation examples are given.

  • Continuous-time Wiener system identification
    IEEE Transactions on Automatic Control, 1998
    Co-Authors: W. Greblicki
    Abstract:

    A continuous-time Wiener system is identified. The system consists of a linear Dynamic Subsystem and a memoryless nonlinear one connected in a cascade. The input signal is a stationary white Gaussian random process. The system is disturbed by stationary white random Gaussian noise. Both Subsystems are identified from input-output observations taken at the input and output of the whole system. The a priori information is very small and, therefore, resulting identification problems are nonparametric. The impulse impulse of the linear part is recovered by a correlation method, while the nonlinear characteristic is estimated with the help of the nonparametric kernel regression method. The authors prove convergence of the proposed identification algorithms and examine their convergence rates.

  • Nonparametric approach to Wiener system identification
    IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 1997
    Co-Authors: W. Greblicki
    Abstract:

    A Wiener system, i.e., a system consisting of a linear Dynamic Subsystem followed by a memoryless nonlinear one is identified. The system is driven by a stationary white Gaussian stochastic process and is disturbed by Gaussian noise. The characteristic of the nonlinear part can be of any form. The Dynamic Subsystem is asymptotically stable. The a priori information about both the impulse response of the Dynamic part of the system and the nonlinear characteristics is nonparametric. Both Subsystems are identified from observations taken at the input and output of the whole system. The kernel regression estimate is applied to estimate the invertible part of the nonlinearity. An estimate to recover the impulse response of the Dynamic part is also given. Pointwise consistency of the first and consistency of the other estimate is shown. The results hold for any nonlinear characteristic, and any asymptotically Dynamic Subsystem. Convergence rates are also given.

Yanmin Wang - One of the best experts on this subject based on the ideXlab platform.

  • IECON - Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics
    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
    Co-Authors: Yanmin Wang, Mingyang Yang, Qinyuan Xu
    Abstract:

    The decoupling control of two-link flexible manipulators with uncertain parameters and joint motor Dynamics is investigated by combining terminal sliding mode (TSM) and output redefinition in this paper. The linear combination of joint angles and flexible modes is chosen as the redefined output to overcome the inherent non-minimum phase characteristics of flexible manipulators; correspondingly the system is decomposed into an input-output Subsystem with motor Dynamics and an internal Dynamic Subsystem with uncertain disturbances. A TSM controller is designed for the robust stability of input-output Subsystem as well as to transfer the internal Dynamics into zero Dynamics. The stability of zero Dynamic Subsystem is proved to be related to the redefined parameters. Finally the steady-state error of the tip position for each link is deduced by Lyapunov stability theory. Simulation results validate the proposed scheme.

  • Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics
    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
    Co-Authors: Yanmin Wang, Mingyang Yang, Qinyuan Xu
    Abstract:

    The decoupling control of two-link flexible manipulators with uncertain parameters and joint motor Dynamics is investigated by combining terminal sliding mode (TSM) and output redefinition in this paper. The linear combination of joint angles and flexible modes is chosen as the redefined output to overcome the inherent non-minimum phase characteristics of flexible manipulators; correspondingly the system is decomposed into an input-output Subsystem with motor Dynamics and an internal Dynamic Subsystem with uncertain disturbances. A TSM controller is designed for the robust stability of input-output Subsystem as well as to transfer the internal Dynamics into zero Dynamics. The stability of zero Dynamic Subsystem is proved to be related to the redefined parameters. Finally the steady-state error of the tip position for each link is deduced by Lyapunov stability theory. Simulation results validate the proposed scheme.

  • Second-Order Non-Singular Terminal Sliding Mode Optimal Control of Uncertain Flexible Manipulator
    2018 IEEE 8th Annual International Conference on CYBER Technology in Automation Control and Intelligent Systems (CYBER), 2018
    Co-Authors: Qinyuan Xu, Yanmin Wang, Weihua Wang, Y Yan-feng
    Abstract:

    For a two-link flexible manipulator with uncertainty, this paper presents a optimal control approach by using second-order nonsingular terminal sliding mode(NTSM). Aiming at its non-minimum characteristic, the output redefinition technology is firstly utilized. Then a two-layer sliding surface is designed with purpose of adding the relative degree of the system, and further eliminating the headache chattering problem. Moreover, genetic algorithm is combined for the stability of zero-Dynamic Subsystem for better design parameters of second-order NTSM. Simulations are provided to verify the effectiveness of the proposed method.

  • Convergence Time Estimation of Flexible Manipulator Control System with NTSM
    IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018
    Co-Authors: Yanmin Wang, Qinyuan Xu, Chuanjian Zhou
    Abstract:

    This paper focuses on the transient analysis for a two-link flexible manipulator under the control of non-singular terminal sliding mode (NTSM), and proposes a convergence time estimation method with difficulties of non-minimum phase and the uncontrolled reaching motion. To overcome the first problem, the system is decomposed into a zero Dynamic Subsystem and an input-output Subsystem-the stability of the former is guaranteed by pole placement, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. The relationship between the initial point and the sliding mode reaching time is explored, and further the convergence time is estimated to overcome the second problem. Simulations validate the proposed method.

  • Phase Trajectory Analysis of Non-singular Terminal Sliding Mode Controlled Flexible Manipulator
    IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018
    Co-Authors: Yanmin Wang, Jian Fang, Qinyuan Xu
    Abstract:

    For a non-singular terminal sliding mode (NTSM) controlled two-link flexible manipulator, this paper investigates the phase trajectories starting from different original states and gives the existence of a critical surface determining whether the system convergences to the equilibrium point in a short path. By using the output redefinition method, the system is first decomposed into a zero Dynamic Subsystem and an input-output Subsystem-the stability of the former is guaranteed by pole placement technique, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. Then twelve possible original states and their corresponding phase trajectories are discussed, proving the distribution rule of phase trajectory. Simulations validates the proposed analysis.

Xiaowei Yu - One of the best experts on this subject based on the ideXlab platform.

  • Second-order terminal sliding mode control of uncertain multivariable systems
    International Journal of Control, 2007
    Co-Authors: Y Yan-feng, Yongxing Wang, Xiao Han, Yongqiang Wang, Xiaowei Yu
    Abstract:

    A second-order terminal sliding mode controller for uncertain multivariable systems is proposed in this paper. The controller adopts the hierarchical control structure. The paper derives the state transform matrices which are used to transform a multivariable linear system to the block controllable form consisting of two Subsystems, an input-output Subsystem and a stable internal Dynamic Subsystem. The proposed controller utilizes a non-singular terminal sliding mode manifold for the input-output Subsystem to realize fast convergence and better tracking precision. Meanwhile, a chattering-free second-order terminal sliding mode control law is presented. The stability of uncertain multivariable systems can be realized using the proposed controller. A derivative estimator is utilized in the paper to estimate the derivatives of the sliding mode functions for the controller. The simulation results are presented to validate the design method.

Qinyuan Xu - One of the best experts on this subject based on the ideXlab platform.

  • IECON - Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics
    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
    Co-Authors: Yanmin Wang, Mingyang Yang, Qinyuan Xu
    Abstract:

    The decoupling control of two-link flexible manipulators with uncertain parameters and joint motor Dynamics is investigated by combining terminal sliding mode (TSM) and output redefinition in this paper. The linear combination of joint angles and flexible modes is chosen as the redefined output to overcome the inherent non-minimum phase characteristics of flexible manipulators; correspondingly the system is decomposed into an input-output Subsystem with motor Dynamics and an internal Dynamic Subsystem with uncertain disturbances. A TSM controller is designed for the robust stability of input-output Subsystem as well as to transfer the internal Dynamics into zero Dynamics. The stability of zero Dynamic Subsystem is proved to be related to the redefined parameters. Finally the steady-state error of the tip position for each link is deduced by Lyapunov stability theory. Simulation results validate the proposed scheme.

  • Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics
    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
    Co-Authors: Yanmin Wang, Mingyang Yang, Qinyuan Xu
    Abstract:

    The decoupling control of two-link flexible manipulators with uncertain parameters and joint motor Dynamics is investigated by combining terminal sliding mode (TSM) and output redefinition in this paper. The linear combination of joint angles and flexible modes is chosen as the redefined output to overcome the inherent non-minimum phase characteristics of flexible manipulators; correspondingly the system is decomposed into an input-output Subsystem with motor Dynamics and an internal Dynamic Subsystem with uncertain disturbances. A TSM controller is designed for the robust stability of input-output Subsystem as well as to transfer the internal Dynamics into zero Dynamics. The stability of zero Dynamic Subsystem is proved to be related to the redefined parameters. Finally the steady-state error of the tip position for each link is deduced by Lyapunov stability theory. Simulation results validate the proposed scheme.

  • Second-Order Non-Singular Terminal Sliding Mode Optimal Control of Uncertain Flexible Manipulator
    2018 IEEE 8th Annual International Conference on CYBER Technology in Automation Control and Intelligent Systems (CYBER), 2018
    Co-Authors: Qinyuan Xu, Yanmin Wang, Weihua Wang, Y Yan-feng
    Abstract:

    For a two-link flexible manipulator with uncertainty, this paper presents a optimal control approach by using second-order nonsingular terminal sliding mode(NTSM). Aiming at its non-minimum characteristic, the output redefinition technology is firstly utilized. Then a two-layer sliding surface is designed with purpose of adding the relative degree of the system, and further eliminating the headache chattering problem. Moreover, genetic algorithm is combined for the stability of zero-Dynamic Subsystem for better design parameters of second-order NTSM. Simulations are provided to verify the effectiveness of the proposed method.

  • Convergence Time Estimation of Flexible Manipulator Control System with NTSM
    IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018
    Co-Authors: Yanmin Wang, Qinyuan Xu, Chuanjian Zhou
    Abstract:

    This paper focuses on the transient analysis for a two-link flexible manipulator under the control of non-singular terminal sliding mode (NTSM), and proposes a convergence time estimation method with difficulties of non-minimum phase and the uncontrolled reaching motion. To overcome the first problem, the system is decomposed into a zero Dynamic Subsystem and an input-output Subsystem-the stability of the former is guaranteed by pole placement, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. The relationship between the initial point and the sliding mode reaching time is explored, and further the convergence time is estimated to overcome the second problem. Simulations validate the proposed method.

  • Phase Trajectory Analysis of Non-singular Terminal Sliding Mode Controlled Flexible Manipulator
    IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018
    Co-Authors: Yanmin Wang, Jian Fang, Qinyuan Xu
    Abstract:

    For a non-singular terminal sliding mode (NTSM) controlled two-link flexible manipulator, this paper investigates the phase trajectories starting from different original states and gives the existence of a critical surface determining whether the system convergences to the equilibrium point in a short path. By using the output redefinition method, the system is first decomposed into a zero Dynamic Subsystem and an input-output Subsystem-the stability of the former is guaranteed by pole placement technique, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. Then twelve possible original states and their corresponding phase trajectories are discussed, proving the distribution rule of phase trajectory. Simulations validates the proposed analysis.

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