PID passivity-based control laws for joint position regulation of a self-balancing robot

2021 ◽  
Vol 116 ◽  
pp. 104927
Author(s):  
Isaac Gandarilla ◽  
Víctor Santibáñez ◽  
Jesús Sandoval ◽  
Jose Guadalupe Romero
Keyword(s):  
Joint Position ◽  
Control Laws ◽  
Position Regulation ◽  
Passivity Based Control ◽  
Balancing Robot

PID tuning using MOGA for joint position regulation of a pendular device

2021 ◽  
Author(s):  
David Alonso Pimienta Berrelleza ◽  
Jesus Sandoval ◽  
Marco Antonio Castro Liera ◽  
Iliana Castro Liera
Keyword(s):  
Joint Position ◽  
Pid Tuning ◽  
Position Regulation

OUTPUT FEEDBACK CONTROL OF UNIFIED CHAOTIC SYSTEMS BASED ON FEEDBACK PASSIVITY

2010 ◽  
Vol 20 (05) ◽  
pp. 1519-1525 ◽  
Author(s):  
TEERAWAT SANGPET ◽  
SUWAT KUNTANAPREEDA
Keyword(s):  
Chaos Control ◽  
Chaotic Systems ◽  
Output Feedback Control ◽  
Control Law ◽  
Control Laws ◽  
Unified Chaotic Systems ◽  
System Output ◽  
Simulation Results ◽  
Passivity Based Control ◽  
System States

Recently, the concept of feedback passivity-based control has drawn attention to chaos control. In all existing papers, the implementations of passivity-based control laws require the system states for feedback. In this paper, a passivity-based control law which only requires the knowledge of the system output is proposed. Simulation results are provided to show the effectiveness of the proposed solution.

scholarly journals A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

Passivity‐based control laws for an unmanned powered parachute aircraft

2021 ◽  
Author(s):  
C.D. García‐Beltrán ◽  
E.M. Miranda‐Araujo ◽  
M.E. Guerrero‐Sanchez ◽  
G. Valencia‐Palomo ◽  
O. Hernández‐González ◽  
...  
Keyword(s):  
Control Laws ◽  
Passivity Based Control

Energy management and damping improvement of a DC microgrid with constant power load using interconnection and damping assignment-passivity based control

2020 ◽  
pp. 014233122096082
Author(s):  
Soumya Samanta ◽  
Saumitra Barman ◽  
Jyoti Prakash Mishra ◽  
Prasanta Roy ◽  
Binoy Krishna Roy
Keyword(s):  
Energy Management ◽  
Control Technique ◽  
Effective Energy ◽  
Constant Power ◽  
Dc Microgrid ◽  
Control Laws ◽  
Control Approach ◽  
Integral Action ◽  
Passivity Based Control ◽  
The Stability

This paper deals with (i) damping improvement and (ii) energy management of a DC microgrid for improvement of its stability. The direct current (DC) microgrid has a solar-photovoltaic system as a renewable source and fuel cell-battery combination as a backup system to supply power to constant power loads (CPLs). The presence of CPLs in a DC microgrid makes the stability problem more challenging since the negative impedance characteristics of CPLs bring instability into the system. A control approach using interconnection and damping assignment-passivity based control (IDA-PBC) is proposed in this paper to address both the objectives. The proposed control approach provides an efficient energy management, the required damping and also maintains the stability by making the system passive. The tuning parameters of the control laws are adapted incorporating the state of charge (SoC) for the effective energy management. In addition, an integral action is added with the proposed control laws to eliminate the steady-state error in the voltage level of the DC bus and load bus. The proposed IDA-PBC control along with an integral action is compared with four other control approaches, and reveals its better performances. The MATLAB/Simulink results show that the proposed control technique provides better responses in terms of providing damping and effective energy management.

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