scholarly journals Realization of DC-DC Buck Converter Based on Hybrid H2 Model Following Control

2021 ◽  
pp. 1-1
Author(s):  
J. S. Fang ◽  
Sheng-Hong Tsai ◽  
Jun-Juh Yan ◽  
P. L. Chen ◽  
Shu-Mei Guo
Keyword(s):  
Buck Converter ◽  
Model Following Control ◽  
Model Following

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

scholarly journals Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression

2021 ◽  
Vol 25 (1) ◽  
pp. 56-63
Author(s):  
Jinhua She ◽  
Lulu Wu ◽  
Zhen-Tao Liu ◽  
◽  
◽  
...  
Keyword(s):  
Vibration Suppression ◽  
Golden Section ◽  
Input Shaping ◽  
Adaptive Model ◽  
Servo Systems ◽  
Elastic Load ◽  
Model Following Control ◽  
Model Following ◽  
Input Shaper ◽  
Precision Motion

Vibration suppression in servo systems is significant in high-precision motion control. This paper describes a vibration-suppression method based on input shaping and adaptive model-following control. First, a zero vibration input shaper is used to suppress the vibration caused by an elastic load to obtain an ideal position output. Then, a configuration that combines input shaping with model-following control is developed to suppress the vibration caused by changes of system parameters. Finally, analyzing the percentage residual vibration reveals that it is effective to employ the sum of squared position error as a criterion. Additionally, a golden-section search is used to adjust the parameters of a compensator in an online fashion to adapt to the changes in the vibration frequency. A comparison with other input shaper methods shows the effectiveness and superiority of the developed method.

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