Adaptive EPCH strategy for nonlinear systems with parameters uncertainty and disturbances

Authors

Xiangxiang Meng, Haisheng Yu, Jie Zhang, Qing Yang

Abstract

This article address a novel adaptive error port controlled Hamiltonian scheme for nonlinear systems with parameters uncertainty and external disturbances. Considering the input saturation phenomenon in real complex systems, a new smooth saturation function is used to deal with the limitations between the control signal and the actuator. The adaptive control technique is introduced to resolve the influence of model parameters uncertainty, and the nonlinear disturbance observer (NDO) is utilized to address external disturbances in real complex systems. Furthermore, a novel NDO-based adaptive error port controlled Hamiltonian (EPCH-NDO) strategy with the smooth switching gain optimization control technique is presented to enhance the accuracy of position tracking control for the target. Finally, the permanent magnet synchronous motor system is adopted to verify the proposed scheme. A large amounts of experiment results indicate that the proposed adaptive EPCH-NDO control strategy has perfect control performances compared with PI and port-controlled Hamiltonian based on load torque estimator methods.

Keywords

Input saturation; Parameters uncertainty and disturbances; EPCH; Adaptive control; NDO; PMSM system

Citation

• Journal: Nonlinear Dynamics
• Year: 2023
• Volume: 111
• Issue: 8
• Pages: 7511–7524
• Publisher: Springer Science and Business Media LLC
• DOI: 10.1007/s11071-023-08243-x

BibTeX

@article{Meng_2023,
  title={{Adaptive EPCH strategy for nonlinear systems with parameters uncertainty and disturbances}},
  volume={111},
  ISSN={1573-269X},
  DOI={10.1007/s11071-023-08243-x},
  number={8},
  journal={Nonlinear Dynamics},
  publisher={Springer Science and Business Media LLC},
  author={Meng, Xiangxiang and Yu, Haisheng and Zhang, Jie and Yang, Qing},
  year={2023},
  pages={7511--7524}
}

Download the bib file

References

• Chen, W.-H. Disturbance Observer Based Control for Nonlinear Systems. IEEE/ASME Transactions on Mechatronics vol. 9 706–710 (2004) – 10.1109/tmech.2004.839034
• Chen, W.-H., Yang, J., Guo, L. & Li, S. Disturbance-Observer-Based Control and Related Methods—An Overview. IEEE Transactions on Industrial Electronics vol. 63 1083–1095 (2016) – 10.1109/tie.2015.2478397
• Yang, J., Chen, W.-H., Li, S., Guo, L. & Yan, Y. Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey. IEEE Transactions on Industrial Electronics vol. 64 3273–3285 (2017) – 10.1109/tie.2016.2583412
• Gao, Y.-F., Sun, X.-M., Wen, C. & Wang, W. Adaptive Tracking Control for a Class of Stochastic Uncertain Nonlinear Systems With Input Saturation. IEEE Transactions on Automatic Control vol. 62 2498–2504 (2017) – 10.1109/tac.2016.2600340
• Lyu, X. & Lin, Z. PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation. IEEE/CAA Journal of Automatica Sinica vol. 9 90–98 (2022) – 10.1109/jas.2021.1004281
• Wei, A. & Wang, Y. Stabilization and $H^\infty$ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica vol. 46 2008–2013 (2010) – 10.1016/j.automatica.2010.08.001
• Wang, Z.-M., Wei, A., Zong, G., Zhao, X. & Li, H. Finite-time stabilization and\(\boldsymbol{\mathcal{H}}_{\infty}\)control for a class of switched nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Journal of the Franklin Institute vol. 357 11807–11829 (2020) – 10.1016/j.jfranklin.2019.11.055
• Lv, C., Yu, H., Chen, J., Zhao, N. & Chi, J. Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach. Journal of the Franklin Institute vol. 359 1899–1924 (2022) – 10.1016/j.jfranklin.2022.01.036
• Meng, X., Yu, H., Zhang, J., Xu, T. & Wu, H. Liquid Level Control of Four-Tank System Based on Active Disturbance Rejection Technology. Measurement vol. 175 109146 (2021) – 10.1016/j.measurement.2021.109146
• Meng, X. et al. Disturbance Observer-Based Feedback Linearization Control for a Quadruple-Tank Liquid Level System. ISA Transactions vol. 122 146–162 (2022) – 10.1016/j.isatra.2021.04.021
• Sariyildiz, E., Oboe, R. & Ohnishi, K. Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview. IEEE Transactions on Industrial Electronics vol. 67 2042–2053 (2020) – 10.1109/tie.2019.2903752
• Bobtsov, A., Yi, B., Ortega, R. & Astolfi, A. Generation of New Exciting Regressors for Consistent Online Estimation of Unknown Constant Parameters. IEEE Transactions on Automatic Control vol. 67 4746–4753 (2022) – 10.1109/tac.2022.3159568
• Zhang, Z., Wen, C., Xing, L. & Song, Y. Adaptive Output Feedback Control of Nonlinear Systems With Mismatched Uncertainties Under Input/Output Quantization. IEEE Transactions on Automatic Control vol. 67 4801–4808 (2022) – 10.1109/tac.2022.3159543
• Yang, J., Li, T., Liu, C., Li, S. & Chen, W.-H. Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems. IEEE Transactions on Automatic Control vol. 65 2230–2236 (2020) – 10.1109/tac.2019.2940567
• Yan, Y., Zhang, C., Liu, C., Yang, J. & Li, S. Disturbance Rejection for Nonlinear Uncertain Systems With Output Measurement Errors: Application to a Helicopter Model. IEEE Transactions on Industrial Informatics vol. 16 3133–3144 (2020) – 10.1109/tii.2019.2910841
• Mi, Y. et al. Frequency and Voltage Coordinated Control for Isolated Wind–Diesel Power System Based on Adaptive Sliding Mode and Disturbance Observer. IEEE Transactions on Sustainable Energy vol. 10 2075–2083 (2019) – 10.1109/tste.2018.2878470
• Schiffer, J., Fridman, E., Ortega, R. & Raisch, J. Stability of a class of delayed port-Hamiltonian systems with application to microgrids with distributed rotational and electronic generation. Automatica vol. 74 71–79 (2016) – 10.1016/j.automatica.2016.07.022
• Cui, J., Yang, R., Pang, C. & Zhang, Q. Observer-based adaptive robust stabilization of dynamic positioning ship with delay via Hamiltonian method. Ocean Engineering vol. 222 108439 (2021) – 10.1016/j.oceaneng.2020.108439
• Cordoni, F. G., Di Persio, L. & Muradore, R. Discrete stochastic port-Hamiltonian systems. Automatica vol. 137 110122 (2022) – 10.1016/j.automatica.2021.110122
• Rashad, R. et al. Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework. IEEE Transactions on Robotics vol. 38 3936–3955 (2022) – 10.1109/tro.2022.3183532
• Zhong, Q.-C. & Stefanello, M. A Port-Hamiltonian Control Framework to Render a Power Electronic System Passive. IEEE Transactions on Automatic Control vol. 67 1960–1965 (2022) – 10.1109/tac.2021.3069389
• Warsewa, A., Böhm, M., Sawodny, O. & Tarín, C. A port-Hamiltonian approach to modeling the structural dynamics of complex systems. Applied Mathematical Modelling vol. 89 1528–1546 (2021) – 10.1016/j.apm.2020.07.038
• Chopra, N., Fujita, M., Ortega, R. & Spong, M. W. Passivity-Based Control of Robots: Theory and Examples from the Literature. IEEE Control Systems vol. 42 63–73 (2022) – 10.1109/mcs.2021.3139722
• Yu, H., Yu, J., Liu, J. & Song, Q. Nonlinear control of induction motors based on state error PCH and energy-shaping principle. Nonlinear Dynamics vol. 72 49–59 (2012) – 10.1007/s11071-012-0689-3
• Mattioni, A., Wu, Y. & Le Gorrec, Y. Infinite dimensional model of a double flexible-link manipulator: The Port-Hamiltonian approach. Applied Mathematical Modelling vol. 83 59–75 (2020) – 10.1016/j.apm.2020.02.008
• Javanmardi, N., Yaghmaei, A. & Yazdanpanah, M. J. Spacecraft formation flying in the port-Hamiltonian framework. Nonlinear Dynamics vol. 99 2765–2783 (2020) – 10.1007/s11071-019-05445-0
• Yu, H., Yu, J., Wu, H. & Li, H. Energy-shaping and integral control of the three-tank liquid level system. Nonlinear Dynamics vol. 73 2149–2156 (2013) – 10.1007/s11071-013-0930-8
• Meng, X., Yu, H., Zhang, J. & Yan, K. Optimized control strategy based on EPCH and DBMP algorithms for quadruple-tank liquid level system. Journal of Process Control vol. 110 121–132 (2022) – 10.1016/j.jprocont.2021.12.008
• Ferguson, J., Donaire, A., Ortega, R. & Middleton, R. H. Matched Disturbance Rejection for a Class of Nonlinear Systems. IEEE Transactions on Automatic Control vol. 65 1710–1715 (2020) – 10.1109/tac.2019.2933398
• Borja, P., Ortega, R. & Scherpen, J. M. A. New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control. IEEE Transactions on Automatic Control vol. 66 625–636 (2021) – 10.1109/tac.2020.2986731
• Moreschini, A., Mattioni, M., Monaco, S. & Normand-Cyrot, D. Stabilization of Discrete Port-Hamiltonian Dynamics via Interconnection and Damping Assignment. IEEE Control Systems Letters vol. 5 103–108 (2021) – 10.1109/lcsys.2020.3000705
• Lian, S. et al. Adaptive Attitude Control of a Quadrotor Using Fast Nonsingular Terminal Sliding Mode. IEEE Transactions on Industrial Electronics vol. 69 1597–1607 (2022) – 10.1109/tie.2021.3057015
• Plestan, F., Shtessel, Y., Brégeault, V. & Poznyak, A. Sliding mode control with gain adaptation—Application to an electropneumatic actuator. Control Engineering Practice vol. 21 679–688 (2013) – 10.1016/j.conengprac.2012.04.012
• Li, X., Wen, C. & Zou, Y. Adaptive Backstepping Control for Fractional-Order Nonlinear Systems With External Disturbance and Uncertain Parameters Using Smooth Control. IEEE Transactions on Systems, Man, and Cybernetics: Systems vol. 51 7860–7869 (2021) – 10.1109/tsmc.2020.2987335
• Dai, C., Guo, T., Yang, J. & Li, S. A Disturbance Observer-Based Current-Constrained Controller for Speed Regulation of PMSM Systems Subject to Unmatched Disturbances. IEEE Transactions on Industrial Electronics vol. 68 767–775 (2021) – 10.1109/tie.2020.3005074
• Liu, X. & Yu, H. Continuous adaptive integral-type sliding mode control based on disturbance observer for PMSM drives. Nonlinear Dynamics vol. 104 1429–1441 (2021) – 10.1007/s11071-021-06360-z
• Chen, P. & Luo, Y. Analytical Fractional-Order PID Controller Design With Bode’s Ideal Cutoff Filter for PMSM Speed Servo System. IEEE Transactions on Industrial Electronics vol. 70 1783–1793 (2023) – 10.1109/tie.2022.3158009
• Zhang, L., Chen, Z., Yu, X., Yang, J. & Li, S. Sliding-Mode-Based Robust Output Regulation and Its Application in PMSM Servo Systems. IEEE Transactions on Industrial Electronics vol. 70 1852–1860 (2023) – 10.1109/tie.2022.3163536
• Tang, B. et al. A Novel Position Speed Integrated Sliding Mode Variable Structure Controller for Position Control of PMSM. IEEE Transactions on Industrial Electronics vol. 69 12621–12631 (2022) – 10.1109/tie.2021.3137587
• Cui, Y., Qiao, J., Zhu, Y., Yu, X. & Guo, L. Velocity-Tracking Control Based on Refined Disturbance Observer for Gimbal Servo System With Multiple Disturbances. IEEE Transactions on Industrial Electronics vol. 69 10311–10321 (2022) – 10.1109/tie.2021.3125663
• Khalil, H.K.: Nonlinear Systems, 3rd edn. House of Electronics Industry (2018)
• Wang, W. & Tong, S. Adaptive Fuzzy Bounded Control for Consensus of Multiple Strict-Feedback Nonlinear Systems. IEEE Transactions on Cybernetics vol. 48 522–531 (2018) – 10.1109/tcyb.2016.2645763