Multimotor drive system is widely applied in industrial control system. Considering the characteristics of multi-input multioutput, nonlinear, strong-coupling, and time-varying delay in two-motor drive systems, this paper proposes a new Smith internal model (SIM) control method, which is based on neural network generalized inverse (NNGI). This control strategy adopts the NNGI system to settle the decoupling issue and utilizes the SIM control structure to solve the delay problem. The NNGI method can decouple the original system into several composite pseudolinear subsystems and also complete the pole-zero allocation of subsystems. Furthermore, based on the precise model of pseudolinear system, the proposed SIM control structure is used to compensate the network delay and enhance the interference resisting the ability of the whole system. Both simulation and experimental results are given, verifying that the proposed control strategy can effectively solve the decoupling problem and exhibits the strong robustness to load impact disturbance at various operations.

Guohai Liu

Jun Yuan

Wenxiang Zhao

Yaojie Mi

New Smith Internal Model Control of Two-Motor Drive System Based on Neural Network Generalized Inverse

Uncertainty theory is a branch of mathematics for modeling human uncertainty based on the normality, duality, subadditivity, and product axioms. This paper studies a discrete-time LQ optimal control with terminal state constraint, whereas the weighting matrices in the cost function are indefinite and the system states are disturbed by uncertain noises. We first transform the uncertain LQ problem into an equivalent deterministic LQ problem. Then, the main result given in this paper is the necessary condition for the constrained indefinite LQ optimal control problem by means of the Lagrangian multiplier method. Moreover, in order to guarantee the well-posedness of the indefinite LQ problem and the existence of an optimal control, a sufficient condition is presented in the paper. Finally, a numerical example is presented at the end of the paper.

Yuefen Chen

Minghai Yang

Indefinite LQ Optimal Control with Terminal State Constraint for Discrete-Time Uncertain Systems

According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.

Duo Qi

Jinfu Feng

Jian Yang

Longitudinal Motion Control of AUV Based on Fuzzy Sliding Mode Method

This paper proposes a robust adaptive output feedback control strategy which can automatically regulate control gain for chaos synchronization. Chaotic systems with input nonlinearities, delayed nonlinear coupling, and external disturbance can achieve synchronization by applying this strategy. Utilizing Lyapunov method and LMI technique, the conditions ensuring chaos synchronization are obtained. Finally, simulations are given to show the effectiveness of our control strategy.

Xiaomeng Li

Zhanshan Zhao

Jing Zhang

Meixia Zhu

Robust Adaptive Output Feedback Control Scheme for Chaos Synchronization with Input Nonlinearity

This paper proposed a novel <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-3.291101pt" id="M2" height="11.927pt" version="1.1" viewBox="-0.0498162 -8.6359 20.1917 11.927" width="20.1917pt"><g transform="matrix(.013,0,0,-0.013,0,0)"><use xlink:href="#g113-73"/></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><use xlink:href="#g50-30"/></g></svg> optimal inversion feedforward and robust feedback based two-freedom-of-freedom (2DOF) control approach to address the positioning error caused by system uncertainties in high speed-precision positioning system. To minimize the <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-3.291101pt" id="M3" height="11.927pt" version="1.1" viewBox="-0.0498162 -8.6359 20.1917 11.927" width="20.1917pt"><g transform="matrix(.013,0,0,-0.013,0,0)"><use xlink:href="#g113-73"/></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><use xlink:href="#g50-30"/></g></svg> norm of the positioning error in the presence of model uncertainty, a linear matrix inequality (LMI) synthesis approach for optimal inversion feedforward controller design is presented. The specification of position resolution, control width, robustness, and output signal magnitude imposed on the entire 2DOF control system are taken as optimization objectives of feedback controller design. The robust feedback controller design approach integrates with feedforward controller systematically and is obtained via LMI optimization. The proposed approach was illustrated through a simulation example of nanopositioning control in atomic force microscope (AFM); the experiment results demonstrated that the proposed 2DOF control approach not only achieves the performance specification but also could improve the positioning control performance compared with <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-3.291101pt" id="M4" height="11.927pt" version="1.1" viewBox="-0.0498162 -8.6359 20.1917 11.927" width="20.1917pt"><g transform="matrix(.013,0,0,-0.013,0,0)"><use xlink:href="#g113-73"/></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><use xlink:href="#g50-30"/></g></svg> mixed sensitivity feedback control and inversion-based 2DOF control.

Chao Peng

Chongwei Han

Jianxiao Zou

Guanghui Zhang

<svg  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg"   style="vertical-align:-3.291101pt" height="11.927pt" version="1.1" viewBox="-0.0498162 -8.6359 20.1917 11.927" width="20.1917pt"><g transform="matrix(.013,0,0,-0.013,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z" /></g><g transform="matrix(.0091,0,0,-0.0091,10.075,3.132)"><path id="g50-30" d="M1000 227C1000 351 905 451 780 451C658 451 590 380 530 279C465 385 388 451 261 451C168 451 38 376 38 210C38 98 121 -12 261 -12C381 -12 448 59 508 160C573 53 652 -12 780 -12C879 -12 1000 64 1000 227ZM485 199C434 109 370 25 271 25C188 25 133 117 133 241C133 355 189 414 249 414C357 414 426 302 485 199ZM903 204C903 70 852 25 790 25C681 25 611 136 552 240C603 330 669 414 768 414C855 414 903 321 903 204Z" /></g></svg> Optimal Inversion Feedforward and Robust Feedback Based 2DOF Control Approach for High Speed-Precision Positioning Systems

Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the singularities that exist in a vertical looping maneuver. Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form. Physical singularities due to underactuation are resolved by using an energy-based control. Energy-based control is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when commanding the quadcopter to gain altitude while pitched at <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.2064009pt" id="M1" height="11.0031pt" version="1.1" viewBox="-0.0498162 -10.7967 16.6412 11.0031" width="16.6412pt"><g transform="matrix(.013,0,0,-0.013,0,0)"><path id="g113-58" d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 521 368 635 244 635ZM228 602C326 602 352 479 352 390C352 370 351 347 348 324C327 308 293 296 258 296C174 296 124 369 124 458C124 517 152 602 228 602Z"/></g><g transform="matrix(.013,0,0,-0.013,6.241,0)"><path id="g113-49" d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"/></g><g transform="matrix(.0091,0,0,-0.0091,12.527,-5.741)"><path id="g54-73" d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"/></g></svg>. Three looping strategies (circular, clothoidal, and newly developed constant thrust) are implemented on a nonlinear model of the quadcopter. The three looping strategies are discussed along with their advantages and limitations. 

Ayman A. El-Badawy

Mohamed A. Bakr

Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach

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<p><em>Journal of Control Science and Engineering </em>publishes research investigating the design, simulation and modelling, implementation, and analysis of methods and technologies for control systems and applications.</p>


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<p>Chief Editor, Professor Seiichiro Katsura, is based at Keio University, Japan. His laboratory is developing a novel synthesis method based on the infinite-order modeling and energy conversion of electromechanical integration systems.</p>


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Journal of Control Science and Engineering - Table of contents 2016

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Journal of Control Science and Engineering publishes research investigating the design, simulation and modelling, implementation, and analysis of methods and technologies for control systems and applications.

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Journal of Control Science and Engineering

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Journal of Control Science and Engineering