Vibration suppression control of an integrated powertrain of electric and hybrid vehicles using LQR controller and reduced-order observer

2014 ◽  
Author(s):  
Hong Fu ◽  
Chao Feng ◽  
Shan Xue
Keyword(s):  
Vibration Suppression ◽  
Hybrid Vehicles ◽  
Reduced Order ◽  
Lqr Controller ◽  
Reduced Order Observer

A Reduced-Order Observer Based Piezoelectric Control of Flexible Cartesian (SCARA) Robot Manipulator

2002 ◽  
Author(s):  
Zeyu Liu ◽  
Nader Jalili ◽  
Mohsen Dadfarnia ◽  
Darren M. Dawson
Keyword(s):  
Vibration Suppression ◽  
Robot Manipulator ◽  
Input Voltage ◽  
Reduced Order ◽  
Scara Robot ◽  
Flexible Arm ◽  
Moving Base ◽  
Reduced Order Observer ◽  
Piezoelectric Control ◽  
Base Displacement

An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip deflection and the strain at the root end of the arm), a reduced-order observer is designed to estimate the velocity related variables, which are not measurable. A simple PD controller is selected for the moving base regulation control, while a Lyapunov function candidate based on a very simple energy relationship is utilized for the PZT input voltage to make the closed-loop system energy dissipative and hence stable. In this paper, the PZT input voltage control uses the velocity related signals estimated by the reduced-order observer, which makes the control structure simpler. The feasibility of the controller is validated by the numerical simulations and experimental results.

scholarly journals Asymptotic Regional Gradient Reduced-Order Observer

2021 ◽  
Vol 1818 (1) ◽  
pp. 012190
Author(s):  
Raheam A. Al-Saphory ◽  
Naseif J. Al-Jawari ◽  
Asmaa N. Al-Janabi
Keyword(s):  
Reduced Order ◽  
Reduced Order Observer ◽  
Regional Gradient
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