摘要：This work deals with the nonlinear control of a marine diesel engine by use of a robust intelligent control strategy based on cerebellar model articulation controller （CMAC）. A mathematical model of diesel engine propulsion system is presented. In order to increase the accuracy of dynamical speed, the mathematical model of engagement process based on the law of energy conservation is proposed. Then, a robust cerebellar model articulation controller is proposed for uncertain nonlinear systems. The concept of active disturbance rejection control （ADRC） is adopted so that the proposed controller has more robustness against uncertainties. Finally, the proposed controller is applied to engine speed control system. Both the model of the diesel engine propulsion system and of the control law are validated by a virtual detailed simulation environment. The prediction capability of the model and the control efficiency are clearly shown.

摘要：Active heave compensation systems are usually employed in offshore and deep-sea operations to reduce the adverse impact of unexpected vessel’s vertical motion on the response of underwater *** paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator,which is subjected to parametric uncertainties and unmeasured environmental *** observer and discontinuous projection type updating law with bounded adaption rate are presented firstly to estimate the uncertain system *** a similar estimation algorithm is designed by using a multiple delayed version of the system to enhance the performance of parameter observation.A reduced order observer is also introduced to estimate unknown wave *** the obtained uncertainty information,the resulting control development and stability analysis are implemented based on the Lyapunov’s direct method and back-stepping *** proposed controller guarantees the heave compensation error convergent to a bounded neighborhood around the *** illustrate the effectiveness of the proposed control system.

摘要：This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A nonlinear robust controller is proposed, which consists of an attitude controller to stabilize the rotational motions and a position controller to control translational motions. The quadrotor dynamics involves uncertainties such as parameter uncertainties, nonlinearities, and external disturbances and their effects on closed-loop control system can be guaranteed to be restrained. Simulation results on the quadrotor demonstrate the effectiveness of the designed control approach.

摘要：An ultrasonic motor （USM） is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions. To achieve good performance of a three-joint robot directly driven by USM, according to the operating characteristics of USM, a new position-velocity feedback control strategy is proposed. In the control strategy, there are a total of 18 controller gains to he tuned. Through a series of ＂Design of Experiments＂ by the robust parameter design, an optimal and robust set of proportional integral derivative （PID） controller gains is obtained. Results show that the control strategy can achieve the best performance of the robot and the robust parameter design is effective and convenient to USMs.

摘要：Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.

摘要：We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the 'explosion of terms' that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.

摘要：For a single-motor parallel hybrid electric vehicle, during mode transitions （especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement）, the drivability of the vehicle will be signifi- cantly affected by a clutch torque induced disturbance, driveline oscillations and jerks which can occur without adequate controls. To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle, two controllers are proposed. The first controller is the engine-side controller for engine cranking/starting and speed synchronization. The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties. The controllers are all composed of a feed-forward control and a robust feedback control. The robust controllers are designed by using the mu synthesis method. In the design process, control- oriented system models that take account of various parameter uncertainties and un-modeled dynamics are used. The results of the simulation demonstrate the effectiveness of the proposed control algorithms.

摘要：The controller design for hypersonic vehicle is critical and challenging because of the inherent couplings between the propulsion system and the airframe dynamics,as well as the presence of strong flexibility *** researchers have investigated various strategies to mitigate the coupling by means of robust design *** paper reviews the recent research efforts to promote the capability of control design for hypersonic *** such as robust control,adaptive control,sliding mode control and other hybrid methods have made significant progresses in hypersonic ***,the main challenges of control approaches for hypersonic vehicle are systematically analyzed in detail.

摘要：In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian *** of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking *** this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is *** with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force *** tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter *** mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler ***,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and *** controlled system is simulated to assure the validity of the proposed controller and the quadcopter *** controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model ***,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully *** test results show the supremacy of the overactuated quadcopter over the traditional one.

摘要：Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is *** proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping *** EDOB is designed to estimate not only the influence of disturbances but also the parameter *** the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation *** stability of the closed-loop system is proven by means of Lyapunov *** comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.