Robust Trajectory Tracking in a Reactive Batch Distillation Process using Multirate Nonlinear Internal Model Control

Nowadays, manipulation of quad-rotors faces complexity in controller parameter tuning process and system instability under uncertainties. Internal model control is featured with less controller parameters, simpler tuning process than conventional methods, good robustness and perfect capability in rejection of uncertainties. All its merits can be applied in the field of nano-quad-rotor control since its internal model is easy to be obtained and the suffered uncertainties, especially persistent ones such as model uncertainties and winds, can be rejected by the algorithm effectively. In this paper, an internal model control cascade Proportion-Integration-Differentiation (PID) method is developed to enhance the robustness and improve the capability of uncertainty rejection of nano-quad-rotors flying under persistent uncertainties. The system can be stabilized in a very easy way with all controller parameters tuned within 0 to 1. Comparison with internal model control method was carried out numerically; the results show that, in dealing with persistent uncertainties, the internal model control cascade PID-based method presents significant superiority in the maintenance of both the accuracy of trajectory tracking and the stability of attitude.

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Latent Variable Model Predictive Control for Trajectory Tracking in Batch Processes: Internal Model Control Interpretation and Design Methodology

Industrial & Engineering Chemistry Research ◽

10.1021/ie400060j ◽

2013 ◽

Vol 52 (35) ◽

pp. 12437-12450 ◽

Cited By ~ 9

Author(s):

Honglu Yu ◽

Jesus Flores-Cerrillo

Keyword(s):

Predictive Control ◽

Trajectory Tracking ◽

Latent Variable ◽

Internal Model ◽

Design Methodology ◽

Internal Model Control ◽

Latent Variable Model ◽

Batch Processes ◽

Variable Model ◽

Model Control

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Quadrotor trajectory tracking based on internal model control/ZN-PD control

2016 35th Chinese Control Conference (CCC) ◽

10.1109/chicc.2016.7553208 ◽

2016 ◽

Author(s):

Zefang He ◽

Long Zhao

Keyword(s):

Trajectory Tracking ◽

Internal Model ◽

Internal Model Control ◽

Pd Control ◽

Model Control

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Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

Mathematical Problems in Engineering ◽

10.1155/2015/857291 ◽

2015 ◽

Vol 2015 ◽

pp. 1-13 ◽

Cited By ~ 6

Author(s):

ZeFang He ◽

Long Zhao

Keyword(s):

Transfer Function ◽

Trajectory Tracking ◽

Internal Model ◽

Control Method ◽

Design Method ◽

Internal Model Control ◽

Transformation Model ◽

Transfer Function Matrix ◽

Model Control ◽

Function Matrix

Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

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