Performing Open-Loop Stable Flip-Flops — An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions

2007 ◽  
pp. 253-275 ◽  
Author(s):  
K. Mombaur
Keyword(s):  
Robustness Analysis ◽  
Open Loop ◽  
Periodic Motions

Robustness of Adaptive Rotor Vibration Control to Structured Uncertainty

1997 ◽  
Vol 119 (2) ◽  
pp. 243-250 ◽  
Author(s):  
C. R. Knospe ◽  
S. M. Tamer ◽  
S. J. Fedigan
Keyword(s):  
Robustness Analysis ◽  
Stability Margin ◽  
Singular Values ◽  
Open Loop ◽  
Worst Case ◽  
Loop Control ◽  
Structured Uncertainty ◽  
Analysis Of Stability ◽  
And Performance ◽  
Performance Robustness

Recent experimental results have demonstrated the effectiveness of adaptive open-loop control algorithms for the suppression of unbalance response on rotors supported in active magnetic hearings. Herein, tools for the analysis of stability and performance robustness of this algorithm with respect to structured uncertainty are derived. The stability and performance robustness analysis problems are shown to be readily solved using a novel application of structured singular values. An example problem is presented which demonstrate the efficacy of this approach in obtaining tight bounds on stability margin and worst case performance.

Quantifying Control Authority in Periodic Motions of Underactuated Mobile Robots

2015 ◽  
Author(s):  
David C. Post ◽  
Bill Goodwine ◽  
James P. Schmiedeler
Keyword(s):  
Disturbance Rejection ◽  
Open Loop ◽  
Legged Robots ◽  
Periodic Motions ◽  
Biped Robots ◽  
Velocity Decomposition ◽  
Hybrid Zero Dynamics ◽  
Control Authority ◽  
Flat Ground ◽  
Instantaneous Control

The locomotion of legged robots is inherently underactuated, which creates control challenges in terms of rejecting large disturbances. A detailed understanding of how the control authority of a robot evolves over a gait trajectory has the potential to inform the design of controllers that offer superior disturbance rejection capabilities without compromising the efficiency benefits that typically accompany underactuated legged robots. Previous work has shown how the system velocities of an underactuated mechanical system can be decomposed into directions aligned with the inputs, or controlled directions, and directions orthogonal to the inputs, or uncontrolled directions, and applied that decomposition to drive wheeled robots to rest. This decomposition fundamentally provides a measure of the instantaneous control authority of the robot. This paper examines how the same techniques can be applied to inform the control of biped robots walking with periodic gaits. This problem differs from those previously studied in that it necessarily involves ground impacts and non-zero desired velocities. A representative example of a two-link planar biped walking on flat ground shows how a simple open loop controller that implements heuristics identified through the velocity decomposition to make use of the available control authority can improve disturbance rejection when added to a hybrid zero dynamics-based controller.

Performance Evaluation of a Thermally Integrated Fuel Cell System in the Presence of Uncertainties

2006 ◽  
Author(s):  
Vasilis Tsourapas ◽  
Jing Sun ◽  
Anna Stefanopoulou
Keyword(s):  
Steady State ◽  
Fuel Cell ◽  
Closed Loop ◽  
Robustness Analysis ◽  
Cell System ◽  
Open Loop ◽  
Proton Exchange ◽  
Feedback Controller ◽  
Loop System ◽  
Load Following

In this work, we focus on robustness analysis of an integrated fuel cell and fuel reforming (FCFR) system, which relies on a feedback controller to mitigate hydrogen starvation and temperature overshoot during load transitions. The fuel reformer is used to process natural gas into a hydrogen rich flow to be utilized in a proton exchange membrane fuel cell (PEM-FC). The feedback controller uses the catalytic burner (CB) and the catalytic partial oxidizer (CPOX) temperatures as measurements and adjusts the air and fuel actuator commands to assure fast load following and high steady state efficiency. Several uncertainty sources which can potentially lead to closed loop performance deterioration are considered, including CPOX clogging, hydro-desulphurizer (HDS) clogging, fuel uncertainty and CB parameter uncertainty. Steady state and transient performance are analyzed for the different uncertainty scenarios, for both open and closed loop operation (i.e., with and without feedback control). The robustness of load following and CPOX temperature regulation of the closed loop system (feedforward and feedback controlled) is established, while the open loop system (feedforward controlled) is shown to be vulnerable to all sources of uncertainties considered.

Time-Optimal Control of Flexible Robots Made Robust Through Wave-Based Feedback

2010 ◽  
Vol 133 (1) ◽  
Author(s):  
William J. O’Connor ◽  
David J. McKeown
Keyword(s):  
Optimal Control ◽  
Control Strategy ◽  
Robustness Analysis ◽  
Optimal Solution ◽  
Open Loop ◽  
Time Optimal Control ◽  
System Model ◽  
Optimal Control Strategy ◽  
Modeling Errors ◽  
Time Optimal

This paper presents a new, robust, time-optimal control strategy for flexible manipulators controlled by acceleration-limited actuators. The strategy is designed by combining the well-known, open-loop, time-optimal solution with wave-based feedback control. The time-optimal solution is used to design a new launch wave input to the wave-based controller, allowing it to recreate the time-optimal solution when the system model is exactly known. If modeling errors are present or a real actuator is used, the residual vibrations, which would otherwise arise when using the time-optimal solution alone, are quickly suppressed due to the additional robustness provided by the wave-based controller. A proximal time-optimal response is still achieved. A robustness analysis shows that significant improvements can be achieved using wave-based control in conjunction with the time-optimal solution. The implications and limits are also discussed.

scholarly journals Parametric analysis of a sliding-mode controller to suppress drill-string stick-slip vibration

Meccanica ◽  
2020 ◽  
Vol 55 (12) ◽  
pp. 2475-2492 ◽  
Author(s):  
Vahid Vaziri ◽  
Ibukunolu O. Oladunjoye ◽  
Marcin Kapitaniak ◽  
Sumeet S. Aphale ◽  
Marian Wiercigroch
Keyword(s):  
Parametric Analysis ◽  
Sliding Mode ◽  
Research Effort ◽  
Robustness Analysis ◽  
Open Loop ◽  
Model Verification ◽  
Sliding Mode Controller ◽  
Loop Model ◽  
Stick Slip ◽  
Wide Range

AbstractDespite a significant research effort to understand and mitigate stick-slip in drill-strings, this problem yet to be solved. In this work, a comprehensive parametric robustness analysis of the sliding mode controller has hitherto been performed. First, a model verification and extensive parametric analysis of the open-loop model is presented. This is followed by a detailed parametric analysis of the sliding-mode controller based closed-loop system for two cases, (i) an ideal actuator with no delay or constraint and (ii) a realistic actuator with delay or/and constraint. It is shown that though the proposed controller works robustly across a wide range of parameters, in the absence of delay, it fails in the presence of a delay, thereby limiting its practical application. Experimental results are included to support these claims. This work underlines the importance of including the inherent system characteristics during the control design process. Furthermore, the parametric analysis presented here is aimed to act as a blue-print for testing the efficacy of relevant control schemes to be proposed in the future.

Set of open-loop block-diagonalizers of transfer matrices

1989 ◽  
Vol 49 (1) ◽  
pp. 161-168
Author(s):  
A. Bülent Özgü Ler ◽  
Vasfi Eldem
Keyword(s):  
Open Loop ◽  
Transfer Matrices

On closed-loop equilibrium strategies for mean-field stochastic linear quadratic problems

2020 ◽  
Vol 26 ◽  
pp. 41
Author(s):  
Tianxiao Wang
Keyword(s):  
Optimal Control ◽  
Closed Loop ◽  
Optimal Control Problems ◽  
Mean Field ◽  
Open Loop ◽  
Time Inconsistency ◽  
Control Problems ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Equilibrium Strategies

This article is concerned with linear quadratic optimal control problems of mean-field stochastic differential equations (MF-SDE) with deterministic coefficients. To treat the time inconsistency of the optimal control problems, linear closed-loop equilibrium strategies are introduced and characterized by variational approach. Our developed methodology drops the delicate convergence procedures in Yong [Trans. Amer. Math. Soc. 369 (2017) 5467–5523]. When the MF-SDE reduces to SDE, our Riccati system coincides with the analogue in Yong [Trans. Amer. Math. Soc. 369 (2017) 5467–5523]. However, these two systems are in general different from each other due to the conditional mean-field terms in the MF-SDE. Eventually, the comparisons with pre-committed optimal strategies, open-loop equilibrium strategies are given in details.

Comparison of Dc-Dc SEPIC, CUK and Flyback Converters Based LED Drivers

2020 ◽  
pp. 99-107
Author(s):  
Erdal Sehirli
Keyword(s):  
Integrated Circuit ◽  
Closed Loop ◽  
Input Voltage ◽  
Open Loop ◽  
Current Sensor ◽  
Switching Frequency ◽  
Led Driver ◽  
Advantages And Disadvantages ◽  
Led Drivers ◽  
Conduction Mode

This paper presents the comparison of LED driver topologies that include SEPIC, CUK and FLYBACK DC-DC converters. Both topologies are designed for 8W power and operated in discontinuous conduction mode (DCM) with 88 kHz switching frequency. Furthermore, inductors of SEPIC and CUK converters are wounded as coupled. Applications are realized by using SG3524 integrated circuit for open loop and PIC16F877 microcontroller for closed loop. Besides, ACS712 current sensor used to limit maximum LED current for closed loop applications. Finally, SEPIC, CUK and FLYBACK DC-DC LED drivers are compared with respect to LED current, LED voltage, input voltage and current. Also, advantages and disadvantages of all topologies are concluded.

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