TY - JOUR
T1 - Design of robust trackers and unknown nonlinear perturbation estimators for a class of nonlinear systems
T2 - HTRDNA algorithm for tracker optimization
AU - Fang, Jiunn Shiou
AU - Tsai, Jason Sheng Hong
AU - Yan, Jun Juh
AU - Tzou, Chang He
AU - Guo, Shu Mei
N1 - Funding Information:
A robust tracker design for a class of nonlinear controlled systems with/without direct feed-thrtoruangshf otermrmatioannda nudnakungomwenn tneodnslitnateea, ra psiemrtpulrebaaptipornoaicshpfororpthoseePdI Din-t ytpheisc poantpreorll. eBr awsietdh SoMn LCQanAdT, by takpienrgtulirnbeaatirotnraenstsifmoramtoratiisopnroanpdosaeudg. mTheendteedsi sgtnaetde, paesritmurpblaetiaopnpersotaimcha tfoorr itsheem PIpDlo-tyyepde tcooneltirmolilnaetre with SMC and perturbation estimator is proposed. The designed perturbation estimator is employed to eliminate the unknown nonlinear perturbation so that the better performance can be achieved. To improve the efficiency of real coded DNA algorithm, this paper utilizes the advantage of the Taguchi method to realcoded DNA algorithm so thatthe HTRDNAalgorithm is newly proposed forthe PID controller optimization. Due to the SMC with fast response, SMC is employed to cope with the parameters. Simulation results demonstrate the validity of our proposed method. nonlinear perturbation and then HTRDNA algorithm can be utilized to tune the PID controller type anAd uitths opraCroanmtreibteurtsio. nSsi:mAulllaautithoonr srecsounltrtisb udteemd otontshtreapatep etrh.eJ .v-Sa.Fl.iwdirtoyt eotfh oeumr apnruospcroispetdw itmh tehtehosudp. ervision from J.-J.Y. and J.S.-H.T. C.-H.T. and S.-M.G. are responsible for the simulation of the proposed robust tracker. AuthorContributions:All authors contributed tothe paper.J.-S.F. wrotethe manuscript with the supervision Funding: This work was financially supported by the Ministry of Science and Technology, Taiwan, under from J.-J.Y. and J.-S.H.T. C.-H.T. and S.-M.G. are responsible for the simulation of the proposed robust tracker. Funding: This work was financially supported by the Ministry of Science and Technology, Taiwan, under Conflicts of Interest: The authors declare no conflict of interest. MOST-107-2221-E-167 -032 -MY2. Conflicts of Interest: The authors declare no conflict of interest.
Funding Information:
This work was financially supported by the Ministry of Science and Technology, Taiwan, under MOST-107-2221-E-167-032-MY2.
Publisher Copyright:
© 2019 by the authors.
PY - 2019/12/1
Y1 - 2019/12/1
N2 - A robust linear quadratic analog tracker (LQAT) consisting of proportional-integralderivative (PID) controller, sliding mode control (SMC), and perturbation estimator is proposed for a class of nonlinear systems with unknown nonlinear perturbation and direct feed-through term. Since the derivative type (D-type) controller is very sensitive to the state varying, a new D-type controller design algorithm is developed to avoid an unreasonable large value of the controller gain. Moreover, the boundary of D-type controller is discussed. To cope with the unknown perturbation effect, SMC is utilized. Based on the fast response of SMC controlled systems, the proposed perturbation estimator can estimate unknown nonlinear perturbation and improve the tracking performance. Furthermore, in order to tune the PID controller gains in the designed tracker, the nonlinear perturbation is eliminated by the SMC-based perturbation estimator first, then a hybrid Taguchi real coded DNA (HTRDNA) algorithm is newly proposed for the PID controller optimization. Compared with traditional DNA, a new HTRDNA is developed to improve the convergence performance and effectiveness. Numerical simulations are given to demonstrate the performance of the proposed method.
AB - A robust linear quadratic analog tracker (LQAT) consisting of proportional-integralderivative (PID) controller, sliding mode control (SMC), and perturbation estimator is proposed for a class of nonlinear systems with unknown nonlinear perturbation and direct feed-through term. Since the derivative type (D-type) controller is very sensitive to the state varying, a new D-type controller design algorithm is developed to avoid an unreasonable large value of the controller gain. Moreover, the boundary of D-type controller is discussed. To cope with the unknown perturbation effect, SMC is utilized. Based on the fast response of SMC controlled systems, the proposed perturbation estimator can estimate unknown nonlinear perturbation and improve the tracking performance. Furthermore, in order to tune the PID controller gains in the designed tracker, the nonlinear perturbation is eliminated by the SMC-based perturbation estimator first, then a hybrid Taguchi real coded DNA (HTRDNA) algorithm is newly proposed for the PID controller optimization. Compared with traditional DNA, a new HTRDNA is developed to improve the convergence performance and effectiveness. Numerical simulations are given to demonstrate the performance of the proposed method.
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U2 - 10.3390/MATH7121141
DO - 10.3390/MATH7121141
M3 - Article
AN - SCOPUS:85079687115
SN - 2227-7390
VL - 7
JO - Mathematics
JF - Mathematics
IS - 12
M1 - 1141
ER -