Application of digital electronic balance based on nonlinear tracking differentiator

2021 ◽  
Author(s):  
Hui Xu ◽  
Wen Zou ◽  
Qinglan Kong ◽  
Su Li
Keyword(s):  
Tracking Differentiator ◽  
Nonlinear Tracking

scholarly journals Robust path-following control of underactuated AUVs with multiple uncertainties and state constraints

2021 ◽  
Vol 2121 (1) ◽  
pp. 012042
Author(s):  
Kankan Deng ◽  
Jianming Miao ◽  
Xingyu Sun
Keyword(s):  
State Constraints ◽  
Input Saturation ◽  
Path Following ◽  
Design System ◽  
Robust Controller ◽  
Dynamic Controller ◽  
Tracking Differentiator ◽  
Path Following Control ◽  
Nonlinear Tracking ◽  
Multiple Uncertainties

Abstract This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints. Firstly, four reduced-order extended state observes (ESOs) are designed to estimate the multiple uncertainties, and the estimated values are adopted in the design of kinematic and dynamic controller. Secondly, to address the state constraints, the barrier Lyapunov function is incorporated with the kinematic controller. To resolve the problem of input saturation, the auxiliary design system is utilized in the dynamic controller. To address the problem of “explosion of complexity” inherent in the conventional back-stepping method, a nonlinear tracking differentiator is utilized to obtain the derivative of the desired yaw speed. Finally, the results of numerical simulation are performed to demonstrate the effectiveness of the proposed controller.

Nonlinear Tracking-Differentiator for Velocity Determination Using Carrier Phase Measurements

2009 ◽  
Vol 3 (4) ◽  
pp. 716-725 ◽  
Author(s):  
Yonggang Tang ◽  
Yuanxin Wu ◽  
Meiping Wu ◽  
Xiaoping Hu ◽  
Lincheng Shen
Keyword(s):  
Carrier Phase ◽  
Phase Measurements ◽  
Tracking Differentiator ◽  
Nonlinear Tracking

scholarly journals A Discrete Nonlinear Tracking-Differentiator and Its Application in Vibration Suppression of Maglev System

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Zhiqiang Wang ◽  
Zhiqiang Long ◽  
Yunde Xie ◽  
Jingfang Ding ◽  
Jie Luo ◽  
...  
Keyword(s):  
Vibration Suppression ◽  
Second Order ◽  
Maglev Train ◽  
Differential Signal ◽  
Tracking Differentiator ◽  
Levitation System ◽  
Nonlinear Tracking ◽  
Synthetic Function ◽  
Time Optimal ◽  
Train Vibration

Vibration of the maglev train levitation system is harmful to riding comfort and safety. The signal processing method is effective in vibration control. In this paper, a novel kind of second-order nonlinear tracking differentiator is proposed and applied to suppress the vibration phenomenon. The switching curves of the second-order discrete time optimal control system are presented by the isochronous region method. A synthetic function is acquired depending on the cases whether a point in the phase plane can reach the switching curves within one sample step. The discrete form of tracking differentiator is constructed based on the position relationship between the state point and the characteristic curves. Numerical simulation shows that this discrete tracking differentiator can quickly track an input signal without overshoot and chattering and can produce a good differential signal. A test in a maglev test bench also demonstrates the effectiveness of the tracking differentiator in the suppression of the track-train vibration.

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