Search Results (202)

Aiming at the trajectory tracking control problem caused by the coupling of strong nonlinearity, parameter uncertainty and unknown disturbances in rigid robotic arms, this paper proposes an adaptive robust model predictive control (APRMPC) scheme. This study aims to fill the gap in the existing literature by proposing a dedicated control framework capable of simultaneously and effectively handling parameter uncertainty, unmodeled dynamics, and external disturbances, while ensuring constraint satisfaction. Firstly, a dynamic model of a three-degree-of-freedom robotic arm was established based on the Lagrange equation; secondly, this paper designs a deep integration mechanism of adaptive law and robust predictive control: by designing a parameter adaptive algorithm to estimate the system uncertainty online and feedforward compensate it to the predictive model, the impact of model mismatch is significantly reduced; meanwhile, for the estimated residuals and unknown disturbances, feedback gain was introduced and the control input was designed based on the robust invariant set theory, achieving unified parameter identification, disturbance suppression and rolling optimization within a single framework. This paper strictly proves the feasibility and stability of the control scheme. Finally, the simulation experiments based on MATLAB show that, compared with the traditional MPC and PID methods, the APRMPC algorithm can achieve higher accuracy and stronger robustness in trajectory tracking under various working conditions, effectively resolving the inherent contradiction between the weak robustness of the traditional MPC and the large buffering of sliding mode control, and verifying the value of the proposed scheme in filling the gap in related literature. Full article

This paper presents a cascaded control strategy for neutral-point-clamped three-level (NPC-3L) inverter-fed permanent magnet synchronous motors (PMSMs), integrating continuous-control-set model-predictive control (CCS-MPC) with mid-point voltage regulation and an online Lyapunov-stable neural-network (NN) disturbance observer. The outer CCS-MPC loop optimizes voltage vector application for accurate current tracking and harmonic suppression, while the inner loop balances mid-point voltage by adjusting the dwell times of P/N small-voltage vectors (VVs). The NN-based disturbance observer compensates parameter mismatches in real time, reducing steady-state dq-axis current errors. To validate the effectiveness of the proposed strategy, experiments are conducted using a three-phase PMSM fed by three-phase NPC-3L inverters. Experimental results demonstrate substantial improvements in mid-point voltage balance, current quality, and robustness against model uncertainties. Full article

This paper addresses the joint design of transmit waveforms and receive filters for multiple-input multiple-output (MIMO) radar systems in the presence of signal-dependent clutter and steering vector mismatch. A low-complexity peak searching algorithm is developed to maximize the output signal-to-clutter-plus-noise ratio (SCNR) under a constant-modulus constraint. Different from existing approaches, this paper decomposes the receive filter into a spatial beamformer and a temporal filter to reduce the dimensionality of matrix inversion. The angular uncertainty of the target direction is discretized, and a peak searching strategy identifies the optimal error angle, which is then used to optimize the initial phases of the transmit waveform subcarriers. Based on the optimized initial phases, the estimates of the target angle and steering vector are updated, and the receive filter coefficients are further modified, thereby improving the output SCNR. Numerical simulations are provided to evaluate the performance of the proposed approach compared with existing mismatch-robust methods. The results show that the proposed method preserves inter-subcarrier orthogonality, achieves near-ideal output SCNR with reduced computational complexity, and enables real-time acquisition of more accurate target angles. Full article

With the large-scale integration of single-phase distributed photovoltaic systems into distribution grids, issues such as mismatched generation and load, overvoltage, and three-phase imbalance may arise in the distribution network. A multi-objective optimization method for flexible distribution networks incorporating a four-leg soft open point (F-SOP) is proposed based on fuzzy chance constraints. First, a mathematical model for the F-SOP’s loss characteristics and power control was established based on the three-phase four-arm topology. Considering the impact of source load uncertainty on voltage regulation, a multi-objective complementary voltage regulation architecture is proposed based on fuzzy chance constraint programming. This architecture integrates F-SOP with conventional reactive power compensation devices. Next, a multi-objective collaborative optimization model for distribution networks is constructed, with network losses, overall voltage deviation, and three-phase imbalance as objective functions. The proposed model is linearized using second-order cone programming. Finally, using an improved IEEE 33-node distribution network as a case study, the effectiveness of the proposed method was analyzed and validated. The results indicate that this method can reduce network losses by 30.17%, decrease voltage deviation by 46.32%, and lower three-phase imbalance by 57.86%. This method holds significant importance for the sustainable development of distribution networks. Full article

This study proposes a sliding-mode-based adaptive control framework for symmetric quad-rotor altitude and attitude tracking under parametric uncertainties and mismatched disturbances. To address mismatched disturbances, a finite-time disturbance observer (DO) is integrated into a high-order terminal sliding mode manifold design. While conventional sliding mode control suffers from dependence on precise dynamic models that are unavailable in quad-rotor applications, we devise a fully connected double hidden layer recurrent neural network (FCDHRNN) with full interlayer feedback to approximate unmodeled dynamics. The structure uses double hidden layer connections to strengthen the approximation ability, and its double-layer structure achieves higher accuracy and generalization ability and uses fewer neurons than the single-hidden-layer network. Through Lyapunov stability analysis, weight adaptation laws are rigorously derived to guarantee finite-time convergence of both tracking errors and estimation residuals. Simulation results show that the proposed scheme has superior performance compared with the existing quad-rotor control scheme. Full article

The growing demand for traceable, high-precision attenuation measurements in electromagnetic compatibility (EMC) testing and low-frequency wireless communication systems has driven the development of a primary attenuation standard covering 1 kHz to 10 MHz. The system employs a dual channel null-detection method using an inductive voltage divider (IVD) as a reference, ensuring the highest accuracy and traceability while eliminating sensitivity to detector nonlinearity. Attenuation at 1 kHz, 9 kHz, and 10 kHz is measured directly against the IVD ratio, while higher-frequency measurements (100 kHz–10 MHz) are performed via heterodyne detection, down-converting signals to 1 kHz for comparison. To ensure comparable accuracy at higher attenuation levels, a double-step method is applied at 9 kHz and 10 kHz to mitigate the increased IVD uncertainty above 1 kHz. Linearity is ensured by suppressing common-mode currents with toroidal ferrite chokes and minimizing inter-channel coupling. Type B (non-statistical) measurement uncertainties are evaluated, with major contributions from the IVD reference, system errors, and mismatch. The expanded uncertainties are 2.2 × 10⁻³ dB at 20 dB, 3.0 × 10⁻³ dB at 40 dB, and 4.0 × 10⁻³ dB at 60 dB attenuation. To facilitate wider dissemination and extend the calibration range, a resistive step attenuator with 10 dB pads is evaluated as a practical transfer standard, providing a simple and robust solution for traceable attenuation calibration in this frequency range. Full article

Achieving high-precision tracking control in electrohydraulic servo systems remains challenging due to internal uncertainties, external disturbances, and inaccessible state variables. To address these issues, a command-filter-based velocity-free tracking controller is proposed for an electrohydraulic system. A cascaded adaptive extended state observer is designed to simultaneously compensate for both matched and mismatched disturbances and estimate the unmeasurable velocity state. A first-order command filter is incorporated into the traditional backstepping framework to prevent “differential explosion”. Lyapunov analysis proves that the controller guarantees the boundedness of tracking errors, observer estimation errors, and all closed-loop signals. Comparative simulations demonstrate the superior performance of the proposed controller. Full article

This paper presents a novel control-based observer (CbO) framework for robust state and disturbance estimation in the longitudinal dynamics of fixed-wing aircraft. In this approach, the observer design problem is recast as an equivalent control problem, enabling the use of advanced control techniques for observer synthesis. Within the proposed framework, the estimation of both system states and unknown disturbance inputs is achieved by integrating disturbance rejection capabilities into the control sub-block of the observer. This integration ensures that the output mismatch between the plant and observer model is minimized, even in the presence of modeling uncertainties and external disturbances. Two observer designs are developed: (i) an ${\mathcal{H}}_{\infty }$-CbO, formulated as an ${\mathcal{H}}_{\infty }$ control problem around a linearized model at a nominal operating point, and (ii) a robust ${\mathcal{H}}_{\infty }$-CbO, which extends the design to account for significant model nonlinearities and variations by incorporating multiple operating points and optimizing for the worst-case estimation error. The longitudinal dynamics of a fixed-wing aircraft are derived and linearized to provide the basis for observer design. The performance of the proposed observers is evaluated through comprehensive simulation studies under three scenarios: operation at the nominal point, operation around neighboring points, and comparison with conventional linear observers. Simulation results demonstrate that the proposed observer offers superior robustness and accuracy in estimating both states and external disturbances, particularly in the presence of model uncertainties and varying flight conditions. Full article

Background/Objectives: Multi-scenario calculational methods have been used to evaluate proton teletherapy plan robustness but few studies have been performed to determine the accuracy of these calculational methods. This study evaluates a multi-scenario method by comparing calculations to measurements made in phantoms that simulate the effects of possible uncertainties. Methods: Plans were made using four phantoms in which the delivered dose was highly sensitive to positional and penetration uncertainties. The effects of alignment and penetration uncertainties on the dose distributions of each of those phantoms were simulated by performing calculations using nine different uncertainty scenarios and comparing the calculations to measurements with induced physical alignment displacements. Measured dose distributions were obtained by exposing films placed inside the phantoms and extracting multiple linear profiles. The maximum and minimum doses obtained for each of the calculational scenarios were compared with the measured dose profiles. In addition, comparisons of DVHs for nominal and uncertainty scenarios were performed. Results: The results showed that, under the influence of uncertainties, the minimum dose for the four phantoms decreased by more than 20 Gy, the V_95% coverage fluctuated by more than 10%, but the maximum dose parameter changed by less than 5 Gy. This was expected, as no margins for uncertainties were applied around the targets. The envelope bounded by the maximum and minimum possible calculated doses contained most of the measurements, although the shapes of the dose profiles displayed some mismatches for wedge and head phantoms. There were a few points where the measured maximum dose for bone and lung slab phantom cases was slightly higher than the maximum dose calculated from the nine scenarios. Conclusions: This study demonstrates that a nine-scenario method can adequately evaluate the robustness of simple mono-directional plans containing heterogeneities. Full article

Model predictive control offers high-performance regulation for multiphase drives but is critically dependent on the accuracy of mathematical models for prediction, making it vulnerable to parameter mismatches and uncertainties. To achieve parameter-independent control across both healthy and faulty operations, this paper proposes a novel dynamic mode decomposition with control (DMDc)-based model predictive current control (MPCC) scheme for five-phase permanent magnet synchronous motors. The core innovation lies in constructing discrete-time state-space models directly from operational data via the open-loop DMDc identification, completely eliminating reliance on explicit motor parameters. Furthermore, an improved fault-tolerant strategy is developed to mitigate the torque ripple induced by inter-turn short-circuit (ITSC) faults. This strategy estimates the key fault characteristic, the product of the short-circuit ratio and current, through a spectral decomposition of the AC component in the q-axis current variations, bypassing the need for complex parameter-dependent observers. The derived compensation currents are seamlessly integrated into the predictive control loop. Experimental results comprehensively validate the effectiveness of the proposed framework, demonstrating a performance comparable to a conventional MPCC under healthy conditions and a significant reduction in torque ripple under ITSC fault conditions, all achieved without any prior knowledge of motor parameters or the retuning of controller gains. Full article

Forest aboveground biomass (AGB) products serve as essential references for research on carbon cycle and climate change. However, significant uncertainties exist regarding forest AGB products and their evaluation methods. This study aims to evaluate AGB products in the context of discrepancies in plot size and product scales, while also investigate the applicability of large-scale AGB products at a regional level. The National Aeronautics and Space Administration (NASA)’s Global Ecosystem Dynamics Investigation (GEDI) and the European Space Agency (ESA)’s Climate Change Initiative (CCI) biomass data were evaluated using sample plots from the National Forest Inventory (NFI). The study was conducted in Jilin Province, located in Northeast China, which is predominantly covered by natural forests. Spatial representativeness evaluation indicators for sample plots were established, followed by a comprehensive representativeness assessment and the selection of sample plots based on the criteria importance through the intercriteria correlation (CRITIC) method. Additionally, the study conducted an overall evaluation of the products, as well as evaluations across different biomass ranges and various forest types. The results indicate that the accuracy metrics demonstrated improved performance when using representative plots compared to all plots, with the R² increasing by 15.38%. Both products demonstrated optimal accuracy and stability in the 50–150 Mg/ha range. GEDI and CCI biomass data indicated an overall underestimation, with biases of −25.68 Mg/ha and −83.95 Mg/ha, respectively. Specifically, a slight overestimation occurred in the <50 Mg/ha range, while a gradually increasing underestimation was observed in the ≥50 Mg/ha range. This study highlights the advantages of spatial representativeness analysis in mitigating evaluation uncertainties arising from scale mismatches and enhancing the reliability of product evaluation. The accuracy trends of AGB products offer significant insights that could facilitate improvements and enhance their application. Full article

This paper proposes an innovative state-sequential sliding mode control (SS-SMC) to suppress chaotic behavior and achieve angular frequency control of incommensurate fractional-order permanent magnet synchronous motor (IFOPMSM) systems. The method is designed to handle both input perturbations and mismatched external disturbances. Conventional sliding mode control (SMC) is robust to matched uncertainties. However, the use of discontinuous sign functions causes chattering. This reduces control accuracy and overall performance. Many methods have been proposed to reduce chattering. Yet, for IFOPMSMs, achieving both robust stabilization and chattering suppression under mismatched disturbances and input uncertainties remains challenging. To address these issues, this study introduces an SS-SMC strategy that combines a fractional-order integral-type sliding surface with a continuous control law. Unlike conventional SMC methods that rely on discontinuous sign functions, the proposed approach uses a continuous control function. This preserves the robustness of traditional SMC while effectively eliminating chattering. The SS-SMC utilizes state-sequential control, allowing a single input to stabilize all system states sequentially and achieve the control objectives while reducing system complexity. Simulation results and comparative analyses confirm the effectiveness of the proposed method. The findings show that the SS-SMC ensures robust angular frequency regulation of the IFOPMSM and suppresses chattering effectively. Full article

Synthetic Aperture Radar (SAR) plays a pivotal role in remote-sensing target detection. However, domain shift caused by distribution discrepancies across sensors, coupled with the scarcity of target-domain samples, severely restricts the generalization and practical performance of SAR detectors. To address these challenges, this paper proposes a few-shot SAR target-detection framework tailored for cross-sensor scenarios (CS-FSDet), enabling efficient transfer of source-domain knowledge to the target domain. First, to mitigate inter-domain feature-distribution mismatch, we introduce a Multi-scale Uncertainty-aware Bayesian Distribution Alignment (MUBDA) strategy. By modeling features as Gaussian distributions with uncertainty and performing dynamic weighting based on uncertainty, MUBDA achieves fine-grained distribution-level alignment of SAR features under different resolutions. Furthermore, we design an Adaptive Cross-domain Interactive Coordinate Attention (ACICA) module that computes cross-domain spatial-attention similarity and learns interaction weights adaptively, thereby suppressing domain-specific interference and enhancing the expressiveness of domain-shared target features. Extensive experiments on two cross-sensor few-shot detection tasks, HRSID→SSDD and SSDD→HRSID, demonstrate that the proposed method consistently surpasses state-of-the-art approaches in mean Average Precision (mAP) under 1-shot to 10-shot settings. Full article

This paper proposes a finite-time adaptive reinforcement learning (RL) control law for a class of morphing unmanned aircraft with mismatched disturbances and coupled uncertainties. To handle the mismatched disturbances, an adaptive upper-bound estimator as well as the parameter adaptive laws have been proposed. Aiming at the coupled uncertainties, an RL-based online uncertainty estimator and a corresponding finite-time compensation control law have been developed. To deal with the non-affine characteristics, an auxiliary integral system has been introduced. By systematically integrating the aforementioned adaptive upper-bound estimators, finite-time control law, and the auxiliary signals, a novel RL-based adaptive finite-time control framework is constructed for morphing unmanned aircraft. Simulation results reveal the finite-time convergence and the advantages of the proposed method. Full article

This study proposes an improved super-twisting sliding mode (STSM) control method for a brushless doubly fed induction generator (BDFIG) used in standalone ship shaft power generation systems. Focusing on the problem of the low tracking accuracy of the power winding (PW) voltages caused by the parameter perturbation of BDFIG systems, a mismatched uncertain model of the BDFIG is constructed. Additionally, an improved STSM control method is proposed to address the power load variation and compensate for the mismatched uncertainty through virtual control technology. Based on the direct vector control of the control winding (CW), the proposed method ensured that the voltage amplitude error of the power winding could converge to the equilibrium point rather than the neighborhood. Finally, in the experimental investigation of the BDFIG-based ship shaft independent power system, the dynamic performance in the startup and power load changing conditions were analyzed. The experimental results show that the proposed improved STSM controller has a faster dynamic response and higher steady-state accuracy than the proportional integral control and the linear sliding mode control, with strong robustness to the mismatched uncertainties caused by parameter perturbations. Full article