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  • SAGE Publications  (12)
  • Li, Xiang  (12)
  • Tang, Yu  (12)
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  • SAGE Publications  (12)
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  • 1
    Online Resource
    Online Resource
    RETRACTED: Jacobian free monotonic descent algorithm for forward kinematics of spatial parallel manipulator
    SAGE Publications ; 2016
    In:  Advances in Mechanical Engineering Vol. 8, No. 4 ( 2016-04-01), p. 168781401664544-
    Details
    In: Advances in Mechanical Engineering, SAGE Publications, Vol. 8, No. 4 ( 2016-04-01), p. 168781401664544-
    Type of Medium: Online Resource
    ISSN: 1687-8140 , 1687-8140
    URL: Article
    DOI: 10.1177/1687814016645447
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2016
    detail.hit.zdb_id: 2501620-9
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  • 2
    Online Resource
    Online Resource
    Acceleration waveform replication on six-degree-of-freedom redundant electro-hydraulic shaking tables using an inverse model controller with a modelling error
    SAGE Publications ; 2018
    In:  Transactions of the Institute of Measurement and Control Vol. 40, No. 3 ( 2018-02), p. 968-986
    Details
    In: Transactions of the Institute of Measurement and Control, SAGE Publications, Vol. 40, No. 3 ( 2018-02), p. 968-986
    Abstract: A redundant electro-hydraulic shaking table (REST) of six degrees-of-freedom (6 DOFs) with eight hydraulic actuators is an essential experimental tool in many industrial applications for real-time simulation of actual vibrations, such as structural vibration, earthquake simulation and fatigue testing. In order to obtain a high-fidelity acceleration waveform on the REST, a feed-forward inverse model (FFIM) controller with a modelling error compensator is proposed in this study. A recursive extended least-squares algorithm is employed to identify an acceleration closed-loop transfer function of the REST. A zero phase error compensation technology is employed to guarantee stability of the designed FFIM because the identified acceleration closed-loop transfer function is a typical non-minimum phase system and its direct inverse transfer function is unstable. The modelling error compensator is designed to compensate for the modelling error between the identified transfer function and the actual experimental REST, which deteriorates the acceleration waveform replication accuracy of the REST. A 6 DOF REST experimental system was used to verify the proposed controller. Experimental results demonstrated that the proposed controller gave satisfactory acceleration tracking performances on the REST.
    Type of Medium: Online Resource
    ISSN: 0142-3312 , 1477-0369
    URL: Article
    DOI: 10.1177/0142331216675671
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2018
    detail.hit.zdb_id: 2025882-3
    SSG: 3,2
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  • 3
    Online Resource
    Online Resource
    Robust fault-tolerant tracking control for a class of nonlinear systems based on position measurements only
    SAGE Publications ; 2016
    In:  Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering Vol. 230, No. 6 ( 2016-12), p. 486-497
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering, SAGE Publications, Vol. 230, No. 6 ( 2016-12), p. 486-497
    Abstract: The problem of trajectory tracking for a class of nonlinear systems in the presence of un-modeled dynamics, parameter variations and even the actuator faults is investigated in this paper. A novel fault-tolerant control scheme is proposed by combining the nominal model-based controller and time-delay controller, which are adopted to achieve the real-time dynamic compensation and guarantee the robust stability of the controlled systems, respectively. Moreover, high-quality differential signals are unavailable in the presence of disturbances and measurement noise, which limit the performance of closed-loop systems in practice. Therefore, an extended state observer (ESO) is introduced to obtain high-quality differential signal estimations based on position measurements only. Furthermore, the effectiveness of the proposed novel control scheme is verified by testing in the spacecraft attitude tracking system.
    Type of Medium: Online Resource
    ISSN: 0954-4089 , 2041-3009
    URL: Article
    DOI: 10.1177/0954408915576290
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2016
    detail.hit.zdb_id: 2024897-0
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  • 4
    Online Resource
    Online Resource
    Experimental evaluation of acceleration waveform replication on electrohydraulic shaking tables : A review
    SAGE Publications ; 2016
    In:  International Journal of Advanced Robotic Systems Vol. 13, No. 5 ( 2016-09-01), p. 172988141666253-
    Details
    In: International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 13, No. 5 ( 2016-09-01), p. 172988141666253-
    Abstract: An electrohydraulic shaking table is an essential experimental facility in many industrial applications to real-time simulate actual vibration situations including structural vibration and earthquake. However, there is still a challenging area for its acceleration waveform replication because acceleration output responses of the electrohydraulic shaking table would not be as intended in magnitude and phase of an acceleration closed-loop system due to inherent hydraulic nonlinear dynamics of electrohydraulic servo systems. Thus, how to accurately and coordinately control parallel hydraulic actuators of the electrohydraulic shaking table is a critical issue; so, many control techniques have been developed to address the issue. Some currently used key techniques in this field are reviewed in the article, which are the objectives of academic investigations and industrial applications. The article reviews some new control algorithms for the electrohydraulic shaking table to obtain high-fidelity acceleration waveform replication accuracy.
    Type of Medium: Online Resource
    ISSN: 1729-8814 , 1729-8814
    URL: Article
    DOI: 10.1177/1729881416662537
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2016
    detail.hit.zdb_id: 2202393-8
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  • 5
    Online Resource
    Online Resource
    Neural adaptive braking control for single rope winding hoisting systems with disturbance compensation
    SAGE Publications ; 2023
    In:  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Vol. 237, No. 14 ( 2023-07), p. 3148-3162
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, SAGE Publications, Vol. 237, No. 14 ( 2023-07), p. 3148-3162
    Abstract: In the braking control of single rope winding hoisting systems (SRWHS), reasonable braking torque is of great significance in reducing the probability of significant hidden dangers such as overwinding, overspeeding, rope breaking, vibration, conveyance crash and so on. However, dynamic nonlinearity, time-varying disturbances, mechanical dynamic uncertainties and measurement noise severely affect the practical braking control performance. To address those problems, a neural adaptive braking torque controller with disturbance compensation is developed to enhance the braking performance for a single rope winding hoisting system in this paper. Firstly, considering the elastic of steel wire rope, the nonlinear braking model of the SRWHS is established using Lagrange equations and an extended state observer (ESO) is introduced to estimate the system’s unmeasured states and modelling error. Next, a neural adaptive controller is developed to estimate and compensate the mechanical dynamical disturbances resulted from friction forces and random external disturbances. Then, a neural adaptive network controller combined with the ESO (ESONAC) is designed to solve the modelling nonlinearity, time-varying disturbances and system’s unmeasurable states. Finally, the advantages of the ESONAC in improving the braking control performance of winding hoisting systems is verified by comparative experiments.
    Type of Medium: Online Resource
    ISSN: 0954-4062 , 2041-2983
    URL: Article
    DOI: 10.1177/09544062221145459
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2023
    detail.hit.zdb_id: 2024890-8
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  • 6
    Online Resource
    Online Resource
    Adaptive fuzzy command–filtered control strategy for electro-hydraulic braking systems of winding hoist with prescribed performance
    SAGE Publications ; 2023
    In:  Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications
    Abstract: In the braking control of winding hoisting systems, proper braking strategy is of great significance in reducing the probability of significant hidden dangers and improving the safety and reliability of the system. However, as a typical elastic and variable stiffness system, the winding hoisting systems have large nonlinearity, parameter uncertainties, random disturbances, and so on, which severely restrict the improvement of braking performance. To this end, an adaptive fuzzy command–filtered controller with prescribed performance is developed for electro-hydraulic braking systems of winding hoist in this article. First, the dynamic model of the winding hoisting system is established with consideration of the elasticity of wire rope. Based on the established dynamic model, using the fuzzy logic system, the algebraic loop problem caused by non-strict feed structure is overcome, and the unknown nonlinearities arising from modeling error, parameter uncertainties, and system disturbances are also approximated for the subsequent active unknown nonlinearities compensation. Next, to enhance the convergence rate and guarantee the position tracking error within a prescribed region, a tracking error transformation method based on the prescribed performance function is utilized. Subsequently, the adaptive fuzzy control algorithm is developed with command filters, which can also avoid the complexity explosion issue due to the analytic calculation of the derivatives of stabilizing functions, and the rigorous stability of the close-loop system is proved by the Lyapunov theory. Finally, experimental results are utilized to illustrate the effectiveness of the developed controller.
    Type of Medium: Online Resource
    ISSN: 0959-6518 , 2041-3041
    URL: Article
    DOI: 10.1177/09596518231194768
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2023
    detail.hit.zdb_id: 2024903-2
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  • 7
    Online Resource
    Online Resource
    Time waveform replication for electro-hydraulic shaking table incorporating off-line iterative learning control and modified internal model control
    SAGE Publications ; 2014
    In:  Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Vol. 228, No. 9 ( 2014-10), p. 722-733
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications, Vol. 228, No. 9 ( 2014-10), p. 722-733
    Abstract: In this article, a combined control strategy incorporating off-line iterative learning control and modified internal model control is proposed for improving the time waveform replication performance of electro-hydraulic shaking table. To reduce the modeling error between the estimated inverse model and the actual system, a modified internal model control strategy is first utilized to cope with the modeling error by back absorbing the nominal model and the inverse controller into a direct through block. Due to the non-minimum phase property of the nominal model estimated by the recursive extended least square algorithm, the zero magnitude error tracking controller is exploited to obtain a stable inverse controller. Then, an off-line iterative learning control strategy involving a real-time feedback controller is conducted on the compensated system to further enhance the replication performance. Therefore, the proposed algorithm combines the merits of modified internal model control and off-line iterative learning control and simplifies the conventional iterative control process by eliminating consecutive computation of Fourier and inverse Fourier transforms. The combined strategy is first programmed in MATLAB/Simulink and then compiled to a real-time personal computer with xPC target technology for implementation. Experiment results demonstrate that a better tracking accuracy and a faster convergence rate are achieved with the proposed algorithm than conventional pure iterative learning controller.
    Type of Medium: Online Resource
    ISSN: 0959-6518 , 2041-3041
    URL: Article
    DOI: 10.1177/0959651814536553
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2014
    detail.hit.zdb_id: 2024903-2
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  • 8
    Online Resource
    Online Resource
    Delay compensation position tracking control of electro-hydraulic servo systems based on a delay observer
    SAGE Publications ; 2020
    In:  Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Vol. 234, No. 5 ( 2020-05), p. 622-633
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications, Vol. 234, No. 5 ( 2020-05), p. 622-633
    Abstract: In this article, the position control problem of electro-hydraulic servo systems with feedback signal transmission delay is studied. In order to improve the control accuracy of the system, a hybrid controller which combines a delay observer, a nonlinear disturbance observer and a backstepping controller is proposed. The controller has the characteristics of compensating the delay of signal transmission, restraining the uncertain disturbance of control systems and high control precision. In order to verify the stability and validity of the proposed hybrid controller, a single-degree-of-freedom electro-hydraulic shaking table is used to verify the experimental results. The experimental results show that the proposed controller has better control effects than proportional integral derivative and backstepping controller.
    Type of Medium: Online Resource
    ISSN: 0959-6518 , 2041-3041
    URL: Article
    DOI: 10.1177/0959651819871149
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2020
    detail.hit.zdb_id: 2024903-2
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  • 9
    Online Resource
    Online Resource
    Improved feedforward inverse control with adaptive refinement for acceleration tracking of electro-hydraulic shake table
    SAGE Publications ; 2016
    In:  Journal of Vibration and Control Vol. 22, No. 19 ( 2016-11), p. 3945-3964
    Details
    In: Journal of Vibration and Control, SAGE Publications, Vol. 22, No. 19 ( 2016-11), p. 3945-3964
    Abstract: Shake tables are essential facilities in the laboratory for evaluating structural performance subject to vibration excitation. In this paper, to improve the time waveform replication accuracy of electro-hydraulic shake tables (EHSTs), an improved feedforward inverse control algorithm with adaptive refinement is proposed. The EHST system transfer function and stable inverse model is firstly estimated and designed by multi-step recursive extended least squares algorithm and zero magnitude error tracking controller technology, respectively. To reduce the side effect of model identification errors between the estimated and actual system, a system model corrector is further identified based on the previous estimated EHST model and an inverse corrector is obtained so as to constitute the improved feedforward inverse controller (iFIC) by cascading the inverse corrector to the previous designed inverse model. Then, an adaptive refinement controller using a least mean square algorithm is applied to the iFIC controlled system to cope with system uncertainties and nonlinear effects. Therefore, the proposed algorithm combines the merits of feedforward inverse control and adaptive control. Finally, with the help of xPC rapid prototyping technology, experiments are conducted on a real uniaxial EHST system and the experimental results demonstrate that the proposed algorithm exhibits a better tracking accuracy than the conventional controllers for shake tables.
    Type of Medium: Online Resource
    ISSN: 1077-5463 , 1741-2986
    URL: Article
    DOI: 10.1177/1077546314567725
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2016
    detail.hit.zdb_id: 2070247-4
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  • 10
    Online Resource
    Online Resource
    Command filtered adaptive backstepping control for high-accuracy motion tracking of hydraulic systems with extended state observer
    SAGE Publications ; 2022
    In:  Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Vol. 236, No. 3 ( 2022-03), p. 654-668
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications, Vol. 236, No. 3 ( 2022-03), p. 654-668
    Abstract: High-accuracy motion tracking of hydraulic systems is of great significance in industrial applications. Nevertheless, dynamic nonlinearity, modeling uncertainty, generalized disturbance, and measurement noise are inevitably existed in hydraulic systems, which severely deteriorates the practical control performance. Aimed at enhancing the motion-tracking accuracy of hydraulic systems, a novel command filtered adaptive backstepping controller with extended state observer is proposed in this article. On the basis of the established system’s nonlinear model, the extended state observer utilizing only position output feedback information is first designed to estimate the system’s unmeasurable states, and time-varying disturbances of the hydraulic system are also obtained for subsequent active disturbance compensation. Next, a second-order command filter is constructed to generate specific command signals and their derivatives, which significantly simplifies the controller design process by avoiding complicated analytical differential calculations in contrast to traditional adaptive backstepping algorithm. Subsequently, with consideration of system’s nonlinearity, parametric uncertainty, and time-varying disturbance, the developed extended state observer and command filter are introduced into the adaptive backstepping design process of the proposed controller, and theoretical stability of the proposed controller is guaranteed via Lyapunov analysis. Finally, the effectiveness and superiority of the proposed controller are demonstrated by comparative experimental results.
    Type of Medium: Online Resource
    ISSN: 0959-6518 , 2041-3041
    URL: Article
    DOI: 10.1177/09596518211036615
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2022
    detail.hit.zdb_id: 2024903-2
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