Compound Adaptive Fuzzy Quantized Control for Quadrotor and Its Experimental Verification

Synchronization of discrete-time fractional fuzzy neural networks with delays via quantized control

In this paper, synchronization issue of discrete-time fractional fuzzy neural networks (DFFNNs) with delays is solved via quantized control, and is applied in image encryption. Firstly, a novel fractional-order h-difference inequality which makes Lyapunov method more flexible and practical is strictly proved based on the properties of convex functions and theory of discrete fractional calculus. Secondly, by using compression mapping theorem and mathematical induction, we obtain two sufficient conditions to ensure the existence and uniqueness of solutions for DFFNNs. Whereafter, we design a suitable quantized controller, which not only saves channel resources but also reduces control costs. By utilizing our inequality and some analytical techniques, several conservative synchronization criteria for DFFNNs are acquired. Finally, two examples are arranged to illustrate the validity and practicability of our results.

Finite-time trajectory tracking control of quadrotor UAV via adaptive RBF neural network with lumped uncertainties

The trajectory tracking control of the quadrotor with model uncertainty and time-varying interference is studied. The RBF neural network is combined with the global fast terminal sliding mode (GFTSM) control method to converge tracking errors in finite time. To ensure the stability of the system, an adaptive law is designed to adjust the weight of the neural network by the Lyapunov method. The overall novelty of this paper is threefold, 1) Owing to the use of a global fast sliding mode surface, the proposed controller has no problem with slow convergence near the equilibrium point inherently existing in the terminal sliding mode control. 2) Benefiting from the novel equivalent control computation mechanism, the external disturbances and the upper bound of the disturbance are estimated by the proposed controller, and the unexpected chattering phenomenon is significantly attenuated. 3) The stability and finite-time convergence of the overall closed-loop system are strictly proven. The simulation results indicated that the proposed method achieves faster response speed and smoother control effect than traditional GFTSM.

Neural Network Based Adaptive Event-Triggered Control for Quadrotor Unmanned Aircraft Robotics

With the aim of addressing the problem of the trajectory tracking control of quadrotor unmanned aircraft robots (UARs), in this study, we developed a neural network and event-triggering mechanism-based adaptive control scheme for a quadrotor UAR control system. The main technologies included this scheme are as follows. (1) Under the condition that only the quadrotor’s position information can be obtained, a modified high-gain state observer-based adaptive dynamic surface control (DSC) method was applied and the tracking control of quadrotor UARs was acquired. (2) An event-triggered mechanism for UARs was designed, in which the energy consumption was greatly reduced and the communication efficiency between the system and the control terminal was improved. (3) By selecting appropriate parameters, appropriate initial conditions for the adaptive laws, and establishing a high-gain state observer, a tracking performance of L∞ could be achieved. Finally, simulation results of the hardware-in-loop strategy are presented. The control method we propose here outperformed the traditional backstepping sliding mode control (BSMC) scheme.

Review on Monitoring, Operation and Maintenance of Smart Offshore Wind Farms

In recent years, with the development of wind energy, the number and scale of wind farms have been developing rapidly. Since offshore wind farms have the advantages of stable wind speed, being clean, renewable, non-polluting, and the non-occupation of cultivated land, they have gradually become a new trend in the wind power industry all over the world. The operation and maintenance of offshore wind power has been developing in the direction of digitization and intelligence. It is of great significance to carry out research on the monitoring, operation, and maintenance of offshore wind farms, which will be of benefit for the reduction of the operation and maintenance costs, the improvement of the power generation efficiency, improvement of the stability of offshore wind farm systems, and the building of smart offshore wind farms. This paper will mainly summarize the monitoring, operation, and maintenance of offshore wind farms, with particular focus on the following points: monitoring of “offshore wind power engineering and biological and environment”, the monitoring of power equipment, and the operation and maintenance of smart offshore wind farms. Finally, the future research challenges in relation to the monitoring, operation, and maintenance of smart offshore wind farms are proposed, and the future research directions in this field are explored, especially in marine environment monitoring, weather and climate prediction, intelligent monitoring of power equipment, and digital platforms.

Rate Dependent Krasnoselskii-Pokrovskii Modeling and Inverse Compensation Control of Piezoceramic Actuated Stages

The piezoceramic actuated stages have rate-dependent hysteresis nonlinearity, which is not simply related to the current and historical input, but also related to the frequency of the input signal, seriously affects its positioning accuracy. Consider the influence of frequency on hysteresis modeling, a rate-dependent hysteresis nonlinearity model that is based on Krasnoselskii–Pokrovskii (KP) operator is proposed in this paper. A hybrid optimization algorithm of improved particle swarm optimization and cuckoo search is employed in order to identify the density function of rate-dependent KP model, avoiding the blind search process caused by the high randomness of Levy’s flight in the cuckoo search algorithm, and improving the parameter identification performance. For the sake of eliminating the hysteresis characteristics, an inverse feed-forward compensation control that is based on recursive method is proposed without any additional conditions, and a feed-forward compensation controller is designed accordingly. The experimental results show that, under different frequency input signals, as compared with the classic KP model, the proposed rate-dependent KP model can accurately describe the rate-dependent hysteresis characteristics of the piezoceramic actuated stages, and the recursive inverse feed-forward compensation control method can effectively mitigate the hysteresis behaviors.