Stability Analysis of The Stability of Impulsive Switched Delayed System with Actuator Saturation

2020 ◽  
Author(s):  
Yu Meng ◽  
Gang Feng ◽  
Chuandong Li
Keyword(s):  
Stability Analysis ◽  
Actuator Saturation ◽  
Delayed System ◽  
The Stability

scholarly journals Stability Analysis of Centerless Grinding with Loss of Contact Nonlinearity

2019 ◽  
Vol 224 ◽  
pp. 05007
Author(s):  
Marco Leonesio ◽  
Giacomo Bianchi ◽  
Hossein Safarzadeh
Keyword(s):  
Stability Analysis ◽  
Process Model ◽  
Relevant Literature ◽  
Operation Time ◽  
Integer Number ◽  
Integral Number ◽  
Nyquist Criterion ◽  
Delayed System ◽  
Centerless Grinding ◽  
The Stability

The paper presents a novel geometrical stability analysis of centerless grinding that takes into account the nonlinearity associated to wheel-workpiece detachment during lobes formation. Even though the rounding mechanism in centerless grinding has been studied since more than fifty years, stability analysis has been carried out applying stability criteria for linear systems (e.g., Nyquist) on a process model that neglects actual removal “clipping” due to wheel-workpiece detachment. This model limitation is usually overcome by considering only an integer number of lobes, supporting the restriction by the claim that a non-integral number of waves is less likely to build up since the waviness must be constantly removed and replaced by a succeeding wave, which is constantly moving around the workpiece. In this work, the nonlinearity entailed by removal clipping is explicitly taken into account and, by harmonic linearization, represented by a double input describing function (DIDF). Applying the Nyquist criterion on the resulting equivalent delayed system, the paramount instability associated to a quasi-integer number of lobes emerges naturally, without requiring additional assumptions. Moreover, it is shown that the nonlinearity due to wheel-workpiece detachment does not produce a limit cycle in a reasonable operation time. The results delivered by the proposed approach are verified by numeric simulations and positively compared to the relevant literature. The proposed formulation can be easily extended to consider also machine structure dynamics, thus increasing, even in this case, the accuracy of the stability analysis provided by the standard approach.

Neural control of robot manipulators considering motor voltage saturation: performance evaluation and experimental validation

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Alireza Izadbakhsh ◽  
Saeed Khorashadizadeh
Keyword(s):  
Performance Evaluation ◽  
Stability Analysis ◽  
Neural Control ◽  
Actuator Saturation ◽  
Tracking Error ◽  
Design Procedure ◽  
Content Type ◽  
Electrical Motors ◽  
The Stability ◽  
Voltage Saturation

Purpose This paper aims to design a neural controller based on radial basis function networks (RBFN) for electrically driven robots subjected to constrained inputs. Design/methodology/approach It is assumed that the electrical motors have limitations on the applied voltages from the controller. Due to the universal approximation property of RBFN, uncertainties including un-modeled dynamics and external disturbances are represented with this powerful neural network. Then, the lumped uncertainty including the nonlinearities imposed by actuator saturation is introduced and a mathematical model suitable for model-free control is presented. Based on the closed-loop equation, a Lyapunove function is defined and the stability analysis is performed. It is assumed that the electrical motors have limitations on the applied voltages from the controller. Findings A comparison with a similar controller shows the superiority of the proposed controller in reducing the tracking error. Experimental results on a SCARA manipulator actuated by permanent magnet DC motors have been presented to guarantee its successful practical implementation. Originality/value The novelty of this paper in comparison with previous related works is improving the stability analysis by involving the actuator saturation in the design procedure. It is assumed that the electrical motors have limitations on the applied voltages from the controller. Thus, a comprehensive approach is adopted to include the saturated and unsaturated areas, while in previous related works these areas are considered separately. Moreover, a performance evaluation has been carried out to verify satisfactory performance of transient response of the controller.

scholarly journals Application of hybrid and polytopic modeling to the stability analysis of linear systems with saturating inputs

2004 ◽  
Vol 15 (4) ◽  
pp. 401-412 ◽  
Author(s):  
J.M. Gomes da Silva Jr ◽  
S. Tarbouriech ◽  
R. Reginatto
Keyword(s):  
Stability Analysis ◽  
Linear Systems ◽  
Critical Analysis ◽  
Actuator Saturation ◽  
Hybrid Modeling ◽  
Stability Regions ◽  
The Stability

This paper is concerned with the problem of stability regions determination for linear systems with saturating inputs. The paper focuses on a critical analysis of two known approaches to model the effect of actuator saturation: hybrid modeling and polytopic modeling. In each case, algorithms to determine ellipsoidal domains of stability for such class of systems are provided in terms of LMIs. The ability of such algorithms in providing large stability domains is analyzed by highlighting the main reasons they incorporate conservativeness, including the influence of the saturation modeling. Two examples are worked out illustrating how significantly the stability domains obtained by such algorithms can differ.

Stability Analysis of the Nanjung Water Diversion Twin Tunnels based on Convergence Measurement

2019 ◽  
Vol 1 (1) ◽  
pp. 49-60
Author(s):  
Simon Heru Prassetyo ◽  
Ganda Marihot Simangunsong ◽  
Ridho Kresna Wattimena ◽  
Made Astawa Rai ◽  
Irwandy Arif ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Convergence Rate ◽  
Critical Strain ◽  
Convergence Rates ◽  
Strain Analysis ◽  
Water Diversion ◽  
Tunnel Face ◽  
Tunnel Stability ◽  
The Stability ◽  
Twin Tunnels

This paper focuses on the stability analysis of the Nanjung Water Diversion Twin Tunnels using convergence measurement. The Nanjung Tunnel is horseshoe-shaped in cross-section, 10.2 m x 9.2 m in dimension, and 230 m in length. The location of the tunnel is in Curug Jompong, Margaasih Subdistrict, Bandung. Convergence monitoring was done for 144 days between February 18 and July 11, 2019. The results of the convergence measurement were recorded and plotted into the curves of convergence vs. day and convergence vs. distance from tunnel face. From these plots, the continuity of the convergence and the convergence rate in the tunnel roof and wall were then analyzed. The convergence rates from each tunnel were also compared to empirical values to determine the level of tunnel stability. In general, the trend of convergence rate shows that the Nanjung Tunnel is stable without any indication of instability. Although there was a spike in the convergence rate at several STA in the measured span, that spike was not replicated by the convergence rate in the other measured spans and it was not continuous. The stability of the Nanjung Tunnel is also confirmed from the critical strain analysis, in which most of the STA measured have strain magnitudes located below the critical strain line and are less than 1%.

Stability of bounded rapid shear flows of a granular material

1996 ◽  
Vol 308 ◽  
pp. 31-62 ◽  
Author(s):  
Chi-Hwa Wang ◽  
R. Jackson ◽  
S. Sundaresan
Keyword(s):  
Growth Rate ◽  
Stability Analysis ◽  
Granular Material ◽  
Bulk Density ◽  
Particulate Material ◽  
Dominant Mode ◽  
Marginal Stability ◽  
Sheared Layer ◽  
The Stability ◽  
Unusual Type

This paper presents a linear stability analysis of a rapidly sheared layer of granular material confined between two parallel solid plates. The form of the steady base-state solution depends on the nature of the interaction between the material and the bounding plates and three cases are considered, in which the boundaries act as sources or sinks of pseudo-thermal energy, or merely confine the material while leaving the velocity profile linear, as in unbounded shear. The stability analysis is conventional, though complicated, and the results are similar in all cases. For given physical properties of the particles and the bounding plates it is found that the condition of marginal stability depends only on the separation between the plates and the mean bulk density of the particulate material contained between them. The system is stable when the thickness of the layer is sufficiently small, but if the thickness is increased it becomes unstable, and initially the fastest growing mode is analogous to modes of the corresponding unbounded problem. However, with a further increase in thickness a new mode becomes dominant and this is of an unusual type, with no analogue in the case of unbounded shear. The growth rate of this mode passes through a maximum at a certain value of the thickness of the sheared layer, at which point it grows much faster than any mode that could be shared with the unbounded problem. The growth rate of the dominant mode also depends on the bulk density of the material, and is greatest when this is neither very large nor very small.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

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