Neuro-adaptive modeling and control of a cement mill using a sliding mode learning mechanism

2004 ◽  
Author(s):  
A.V. Topalov ◽  
O. Kaynak
Keyword(s):  
Sliding Mode ◽  
Adaptive Modeling ◽  
Modeling And Control ◽  
Learning Mechanism ◽  
And Control

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Adaptive Modeling and Control Applied to a Hydraulic Motor

2019 ◽  
Author(s):  
Marco A. Carpio-Aleman ◽  
Jose F. Tenesaca ◽  
Julio Viola ◽  
Roque Saltaren ◽  
Alejandro Rodriguez ◽  
...  
Keyword(s):  
Hydraulic Motor ◽  
Adaptive Modeling ◽  
Modeling And Control ◽  
And Control

scholarly journals Comparative Study of the Grid Side Converter’s Control during a Voltage Dip

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hind Elaimani ◽  
Ahmed Essadki ◽  
Noureddine Elmouhi ◽  
Rachid Chakib
Keyword(s):  
Reactive Power ◽  
Sliding Mode ◽  
Control Strategies ◽  
Modeling And Control ◽  
Wind Energy Conversion ◽  
Voltage Dip ◽  
Doubly Fed ◽  
Grid Side ◽  
Grid Side Converter ◽  
And Control

The modeling and control of a wind energy conversion system based on the Doubly Fed Induction Generator DFIG is the discussed theme in this paper. The purpose of this system was to control active and reactive power converted; this control is ensured thanks to the control of the two converters. The proposed control strategies are controlled by PI regulators and the sliding mode technique. In the present work a comparison of the robustness of the 2 controls of the grid side converter (GSC) during a voltage dip is shown. The simulation is carried out using the Matlab/Simulink software with a 300 kW generator.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

MODELING AND CONTROL DESIGN OF AN ANGUILLIFORM ROBOTIC FISH

2012 ◽  
Vol 03 (04) ◽  
pp. 1250018 ◽  
Author(s):  
JIAN-XIN XU ◽  
XUE-LEI NIU ◽  
QIN-YUAN REN
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robotic Fish ◽  
Torque Control ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

In this paper, the modeling and control design of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N - 1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque control method is applied first, which can provide satisfactory tracking responses for fish joints. Since this robotic fish is essentially an underactuated system, the reference trajectories for the orientation of the N links are planned in such a way that, at a neighborhood of the equilibrium point, the tracking task of N angles can be achieved by using N - 1 joint torques. To deal with parameter uncertainties that exist in the actual environment, sliding mode control is adopted. Considering feasibility and complexity issues, a simplified sliding mode control algorithm is given. A four-link robotic fish is modeled and simulated, and the results validate the effectiveness of reference planning and the proposed controllers.

Modeling and Control of Automated Pipe Hoisting in Oil and Gas Well Construction

2015 ◽  
Author(s):  
Parham Pournazari ◽  
Pradeepkumar Ashok ◽  
Eric van Oort
Keyword(s):  
Dynamic Model ◽  
Oil And Gas ◽  
Sliding Mode ◽  
Drill String ◽  
Trajectory Design ◽  
Modeling And Control ◽  
Gas Drilling ◽  
Drilling Operations ◽  
Hoisting System ◽  
And Control

This paper presents a robust control algorithm for automatic hoisting of a drill string in oil and gas drilling operations. We demonstrate an iterative scheme for trajectory design and present a lumped dynamic model of the hoisting system. The trajectory is used along with the dynamic model to design a hybrid sliding mode and gain scheduled PI controller to deal with the frictional nonlinearities of the system. The simulation results demonstrate the feasibility of this approach in optimally performing the pipe hoisting task.

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