Robust model free control of robotic manipulators with prescribed transient and steady state performance

2014 ◽  
Author(s):  
Charalampos P. Bechlioulis ◽  
Minas V. Liarokapis ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Steady State ◽  
Robotic Manipulators ◽  
Model Free ◽  
Robust Model ◽  
Model Free Control ◽  
Transient And Steady State ◽  
Steady State Performance

Intelligent PD controller design for active suspension system based on robust model-free control strategy

2019 ◽  
Vol 233 (14) ◽  
pp. 4863-4880 ◽  
Author(s):  
Maroua Haddar ◽  
Riadh Chaari ◽  
S Caglar Baslamisli ◽  
Fakher Chaari ◽  
Mohamed Haddar
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Active Suspension ◽  
Vehicle Speed ◽  
Pd Controller ◽  
Suspension Systems ◽  
Model Free ◽  
Robust Model ◽  
Road Disturbance ◽  
Model Free Control

A novel active suspension control design method is proposed for attenuating vibrations caused by road disturbance inputs in vehicle suspension systems. For the control algorithm, we propose an intelligent PD controller structure that effectively rejects online estimated disturbances. The main theoretical techniques used in this paper consist of an ultra-local model which replaces the mathematical model of quarter car system and a new algebraic estimator of unknown information. The measurement of only input and output variables of the plant is required for achieving the reference tracking task and the cancellation of unmodeled exogenous and endogenous perturbations such as roughness road variation, unpredictable variation of vehicle speed and load variation. The performance and robustness of the proposed active suspension algorithm are compared with ADRC control and LQR control. Numerical results are provided for showing the improvement of passenger comfort criteria with model-free control.

Computing the closed-loop characteristics of a generalized multi-threshold knock controller

2017 ◽  
Vol 19 (9) ◽  
pp. 952-962 ◽  
Author(s):  
Saeed Shayestehmanesh ◽  
James C Peyton Jones ◽  
Jesse Frey
Keyword(s):  
Steady State ◽  
Control Systems ◽  
Closed Loop ◽  
Single Experiment ◽  
Informative Feedback ◽  
Control Laws ◽  
Knock Control ◽  
Transient And Steady State ◽  
Steady State Performance

Most knock controllers respond to knock events which are defined according to some threshold knock intensity. Multi-threshold knock events offer more informative feedback since they encode not just the occurrence of knock events but also some measure of their intensity. While this has the potential for improved control, it is hard to assess the extent to which any benefits are truly realized because (in common with all knock control systems) the results of any single experiment or simulation depends on the random arrival of knock events in that instance. In this article, methods are developed instead to compute the statistical properties of the closed-loop response of a general multi-threshold knock controller, thereby providing a much more complete and rigorous characterization of its performance than has previously been possible. The method is applied to single- and dual-threshold knock controllers and used to provide a rigorous comparison of the transient and steady-state performance of these different control laws. The method can also be used as a calibration aid to assess the effects of different controller gains in reliable, repeatable fashion.

Electrostatic Suspension System for Gyroscopes with Minimum Electrical Disturbing Torque via Non-Linear Pre-Compensation

1996 ◽  
Vol 210 (2) ◽  
pp. 123-127 ◽  
Author(s):  
W Q Yang
Keyword(s):  
Control System ◽  
Steady State ◽  
Position Control ◽  
Complete System ◽  
Suspension System ◽  
System Operation ◽  
Non Linear ◽  
Position Control System ◽  
Transient And Steady State ◽  
Steady State Performance

The new electrostatic suspension system (ESS) presented here is applicable to electrostatically suspended gyroscopes (ESG). The electrical disturbing torque (EDT) acting on the gyro rotor is reduced to much lower levels than possible with the conventional methods, thereby increasing the attainable accuracy of the instrument. This is achieved by eliminating the conventional pre-load voltage and instead applying only control voltages via an analogue non-linear pre-compensator to achieve linear position control system operation despite the square law relating the suspension force to the applied voltage. The transient and steady state performance of the complete system, with changes in position reference and external disturbing forces, are examined with the aid of computer simulations.

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