A New Intelligent Hybrid Control Approach for DC–DC Converters in Zero-Emission Ferry Ships

Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. This research proposes a Fault-tolerant control (FTC) for a robot manipulator, which is based on a hybrid control scheme that uses an observer as well as a hardware redundancy strategy to improve the performance and efficiency in the presence of actuator and sensor faults. Considering a five Degree of Freedom (DoF) robotic manipulator, a dynamic LuGre friction model is derived which forms the basis for design of control law. For actuator’s and sensor’s FTC, an adaptive back-stepping methodology is used for fault estimation and the nominal control law is used for the controller reconfiguration and observer is designed. Fault detection is accomplished by comparing the actual and observed states, pursued by fault tolerant method using redundant sensors. The results affirm the effectiveness of the proposed FTC strategy with model-based friction compensation. Improved tracking performance as well robustness in the presence of friction and fault demonstrate the efficiency of the proposed control approach.

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Hybrid Control of a Pendubot System Using Nonlinear H∞ and LQR

WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL ◽

10.37394/23203.2021.16.12 ◽

2021 ◽

Vol 16 ◽

pp. 155-161

Author(s):

Seif-El-Islam Hasseni

Keyword(s):

Dynamic Modeling ◽

Nonlinear Model ◽

Equilibrium Position ◽

Hybrid Control ◽

Control Law ◽

Lagrange Method ◽

Control Approach ◽

Linearized Model ◽

Active Link ◽

Pendubot System

In this paper, a hybrid control approach is synthesized for stabilizing an under-actuated mechanical system, the Pendubot. This kind of system is divided into two modes, the swing-up mode, and the balancing mode. First, dynamic modeling is established by the Euler-Lagrange method. Next, the robust nonlinear H∞ is designed for the swing-up mode, which handles with the nonlinear model. To weaken the under-actuation characteristic, the control law is developed for the active link with its coupling with the passive link. The LQR is designed for the balancing mode where LQR handles with the linearized model about the unstable top equilibrium position. A simulation is achieved under the MATLAB/Simulink environment. It shows robustness against the external inputs and the fast convergence to the equilibrium position.

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Elevation, pitch and travel axis stabilization of 3DOF helicopter with hybrid control system by GA-LQR based PID controller

International Journal of Electrical and Computer Engineering (IJECE) ◽

10.11591/ijece.v10i2.pp1868-1884 ◽

2020 ◽

Vol 10 (2) ◽

pp. 1868 ◽

Cited By ~ 1

Author(s):

Ibrahim K. Mohammed ◽

Abdulla I. Abdulla

Keyword(s):

Pid Controller ◽

Hybrid Control ◽

Research Work ◽

Linear Quadratic Regulator ◽

Optimization Method ◽

Feedback Gain ◽

Algorithm Optimization ◽

Linear Quadratic ◽

Control Approach ◽

Lqr Controller

This research work presents an efficient hybrid control methodology through combining the traditional proportional-integral-derivative (PID) controller and linear quadratic regulator (LQR) optimal controlher. The proposed hybrid control approach is adopted to design three degree of freedom (3DOF) stabilizing system for helicopter. The gain parameters of the classic PID controller are determined using the elements of the LQR feedback gain matrix. The dynamic behaviour of the LQR based PID controller, is modeled and the formulated in state space form to enable utlizing state feedback controller technique. The performance of the proposed LQR based LQR controller is improved by using Genetic Algorithm optimization method which are adopted to obtain optimum values for LQR controller gain parameters. The LQR-PID hybrid controller is simulated using Matlab environment and its performance is evaluated based on rise time, settling time, overshoot and steady state error parameters to validate the proposed 3DOF helicopter balancing system. Based on GA tuning approach, the simulation results suggest that the hybrid LQR-PID controller can be effectively adopted to stabilize the 3DOF helicopter system.

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An active hybrid control approach with the Fx-RLS adaptive algorithm for active-passive isolation structures

Smart Materials and Structures ◽

10.1088/1361-665x/ab8c24 ◽

2020 ◽

Vol 29 (10) ◽

pp. 105005

Author(s):

Sun Yi ◽

Wu Junwei ◽

Yin Peilun ◽

Pu Huayan ◽

Li Zhongjie ◽

...

Keyword(s):

Adaptive Algorithm ◽

Hybrid Control ◽

Control Approach ◽

Passive Isolation

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Planing force identification in high-speed underwater vehicles

Journal of Vibration and Control ◽

10.1177/1077546315571660 ◽

2016 ◽

Vol 22 (20) ◽

pp. 4176-4191 ◽

Cited By ~ 11

Author(s):

Mojtaba Mirzaei ◽

Mohammad Eghtesad ◽

Mohammad Mahdi Alishahi

Keyword(s):

High Speed ◽

Hybrid Control ◽

Equations Of Motion ◽

Nonlinear Behavior ◽

Underwater Vehicles ◽

The Body ◽

Force Identification ◽

Control Approach ◽

Control Scheme ◽

Highly Nonlinear

One of the most important issues, which high-speed underwater vehicles (HSUV) deal with, is the so-called planing force. The dynamic of HSUV includes two separate phases called planing phase and non-planing phase. Ideally, in perfect flight, the vehicle should fly within the cavity walls. However, in practice, the vehicle impacts on the cavity boundaries due to disturbances. The magnitude of the planing force is large and has a strong effect on dynamics of HSUV. However, planing force modeling is often too simple and therefore inaccurate, due to the nonlinear interaction among the solid, liquid, and gaseous phases, which is not well understood yet. Consequently, planing force identification is of great importance and should be studied in details. The present paper discusses the identification of the planing force in HSUV. For this purpose, the equations of motion are developed for the HSUV in the planing phase while the tail and the body end impact on the cavity wall. Then, a robust hybrid switching control approach is employed to deal with the highly nonlinear behavior of the underwater vehicle as it is influenced by the liquid-gas boundary interactions. An on-line planing force identification based on Lyapunov function is considered within designing controller procedure, thus the stability of the system is guaranteed. Lateral and longitudinal planing force identification are achieved and discussed. Compared to the proportional-integral-derivative control scheme, the hybrid control scheme seems to increase the stabilization of HSUV, which is useful in avoiding unsteady changes of cavity shape.

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