An active continuous control method and its experiment on the rapid suppression of inverted pendulum structure oscillation

2021 ◽  
pp. 116691
Author(s):  
Wei Chu ◽  
Chaofeng Li ◽  
Guobin Zhang
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Continuous Control

scholarly journals Continuous Control Set Predictive Current Control for Induction Machine

2021 ◽  
Vol 11 (13) ◽  
pp. 6230
Author(s):  
Toni Varga ◽  
Tin Benšić ◽  
Vedrana Jerković Štil ◽  
Marinko Barukčić
Keyword(s):  
Control Method ◽  
Induction Machine ◽  
Current Control ◽  
Continuous Control ◽  
Loop Model ◽  
Voltage Reference ◽  
Control Loop ◽  
Speed Tracking ◽  
Finite Control ◽  
Control Set

A speed tracking control method for induction machine is shown in this paper. The method consists of outer speed control loop and inner current control loop. Model predictive current control method without the need for calculation of the weighing factors is utilized for the inner control loop, which generates a continuous set of voltage reference values that can be modulated and applied by the inverter to the induction machine. Interesting parallels are drawn between the developed method and state feedback principles that helped with the analysis of the stability and controllability. Simple speed and rotor flux estimator is implemented that helps achieve sensorless control. Simulation is conducted and the method shows great performance for speed tracking in a steady state, and during transients as well. Additionally, compared to the finite control set predictive current control, it shows less harmonic content in the generated torque on the rotor shaft.

Continuous control of sampled data systems with robustness against bounded measurement errors

2017 ◽  
Vol 40 (10) ◽  
pp. 3125-3133
Author(s):  
Milad Ghanbari ◽  
Masoud Bahraini ◽  
Mohammad Javad Yazdanpanah
Keyword(s):  
Measurement Errors ◽  
Control Method ◽  
Linear Time ◽  
Continuous Control ◽  
Data Systems ◽  
Sampled Data ◽  
Linear Time Invariant ◽  
Experimental Implementation ◽  
Time Invariant ◽  
Ultimate Bound

This paper considers the design of a generalized hold function to be used for the control of sampled-data systems. The proposed method suggests a continuous controller for sampled data systems. Ultimate boundedness of the proposed method in the presence of bounded measurement errors is also shown for linear and nonlinear systems. In linear time invariant cases, a cost function is suggested for the sake of ultimate bound minimization. In addition, this can answer how we choose a sensor for a real system to get a desired control outcome. Eventually, the effectiveness of the proposed control method is investigated through simulation and experimental implementation.

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Vo Anh Tuan ◽  
Hee-Jun Kang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Control Law ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Position Errors ◽  
Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

scholarly journals System design for inverted pendulum using LQR control via IoT

2020 ◽  
Vol 11 ◽  
pp. 12
Author(s):  
Dechrit Maneetham ◽  
Petrus Sutyasadi
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Lqr Controller ◽  
Model Tuning ◽  
And Performance ◽  
Performance Results ◽  
And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

scholarly journals Synthesis of intelligent fuzzy control in the space of bounded piecewise-continuous functions based on the combined maximum principle

2018 ◽  
Vol 226 ◽  
pp. 04031 ◽  
Author(s):  
Andrey A. Kostoglotov ◽  
Sergey V. Lazarnko ◽  
Igor A. Nikitin
Keyword(s):  
Control Method ◽  
Control Object ◽  
Continuous Functions ◽  
Terminal State ◽  
Control Synthesis ◽  
Continuous Control ◽  
Control Laws ◽  
Relay Control ◽  
Piecewise Continuous ◽  
Two Stages

It is shown that the solution of the problem of control synthesis using the Hamilton-Ostrogradskii principle leads to a variational inequality, from which the conditions for the maximum of the the generalized power function in the space of bounded piecewise continuous functions follow. It allows to find a feedback structure up to a synthesis function. Using the methods of the structure construction the nonlinear structures of the relay and continuous control laws are obtained. The proposed control method allows to avoid the mode with frequented switching. It consists of the following two stages. At the first stage, the control object is brought into the vicinity of the terminal state using the relay control law. In the second stage, the quasi-optimal continuous control is used. The uncertainty of the transition area size is resolved using fuzzy logic. The efficiency of the intelligent controls is demonstrated by the example of mathematical modeling of the system dynamics.

Experimental study of rapid oscillation suppression of a pendulum on the basis of intermittent mass motion

2019 ◽  
Vol 26 (9-10) ◽  
pp. 840-850 ◽  
Author(s):  
Chaofeng Li ◽  
Zijian Zhang ◽  
Zixuan Zhang ◽  
Bangchun Wen
Keyword(s):  
Control Method ◽  
Structure Design ◽  
Mass Motion ◽  
Vertical Position ◽  
Experimental Setup ◽  
Continuous Control ◽  
Moving Mass ◽  
Oscillation Control ◽  
Efficient Suppression ◽  
The Stability

In this paper, the experimental setup of a pendulum with a moving mass is established to study the rapid suppression of pendulum oscillation. The intermittent motion of the moving mass is employed to achieve more efficient suppression. The proposed control method can reduce mass motion distance rapidly in the vicinity of the vertical position to ensure the stability of the system. The mass motion is triggered by recognizing the pendulum angle in real time so that the nonsynchronous motion can be avoided. With the verification of the accuracy of the controlled motion distance, the effects of several motion parameters of the moving mass are studied. Moreover, the experimental results reveal that the proposed control strategy is more efficient in oscillation suppressing than the traditional continuous control method. The experimental setup and the proposed approach can be applied in pendulum-like structure design and oscillation control.

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