A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design

1999 ◽  
Vol 122 (3) ◽  
pp. 426-434 ◽  
Author(s):  
Edmond Richer ◽  
Yildirim Hurmuzlu
Keyword(s):  
High Performance ◽  
Controller Design ◽  
Sliding Mode ◽  
Superior Performance ◽  
Nonlinear Controller ◽  
Nonlinear Force ◽  
System Part ◽  
Valve Dynamics ◽  
Actuator System ◽  
The One

In this article we present two nonlinear force controllers based on the sliding mode control theory. For this purpose we use the detailed mathematical model of the pneumatic system developed in the first part of the paper. The first controller is based on the complete model, and exhibits superior performance both in the numerical simulation and experiments, but requires complex online computations for the control law. The second controller neglects the valve dynamics and the time delay due to connecting tubes. The performance of this controller exhibits slight degradation for configurations with relatively short tubes, and at frequencies up to 20 Hz. At higher frequencies or when long connecting tubes are used, however, the performance exhibits significant degradation compared to the one provided by the full order controller. [S0022-0434(00)00703-6]

Novel dual-redundancy electro-hydrostatic actuator research and controller design

2019 ◽  
Vol 233 (16) ◽  
pp. 5874-5886
Author(s):  
Wending Li ◽  
Guanglin Shi
Keyword(s):  
High Performance ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Model Simulation ◽  
The Novel ◽  
Task Requirements ◽  
Actuator System ◽  
Physical Model Simulation ◽  
System Prototype

The paper proposes a novel dual-redundancy motor pump for the electro-hydrostatic actuator. Rather than the traditional single motor pump electro-hydrostatic actuator system, the system proposed in this paper can operate in three working modes and automatically adjust its operating condition in accordance with task requirements. The novel dual-redundancy electro-hydrostatic actuator system prototype was developed, and a high-performance control method was proposed and applied to the system, combining proportional–integral–derivative and sliding mode control to study the control strategy and implementation method of double closed loop. In addition, a physical model simulation was conducted on the basis of Amesim for this electro-hydrostatic actuator under several working conditions. Results showed that the dual-redundancy electro-hydrostatic actuator can decrease power loss and demonstrate excellent performance and reliability.

scholarly journals Nonlinear controller design of a ship autopilot

2010 ◽  
Vol 20 (2) ◽  
pp. 271-280 ◽  
Author(s):  
Mirosław Tomera
Keyword(s):  
High Performance ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Time Domain Analysis ◽  
Nonlinear Controller ◽  
Calm Water ◽  
Simulation Results ◽  
Nonlinear Controller Design ◽  
Ship Autopilot

Nonlinear controller design of a ship autopilotThe main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.

Modeling of Pneumatic Actuator System for High Performance Nonlinear Controller Design

2004 ◽  
Author(s):  
Meihua Tai ◽  
Ke Xu
Keyword(s):  
Force Control ◽  
High Performance ◽  
Controller Design ◽  
Pneumatic Actuator ◽  
Nonlinear Controller ◽  
Detailed Model ◽  
Pneumatic Actuators ◽  
High Bandwidth ◽  
Actuator System ◽  
Electrical Motors

Modern applications in robotics such as teleoperations and haptics require high performance force actuators. Pneumatic actuators have significant advantages over electrical motors in terms of force-to-mass ratio. However, position and force control of these actuators in applications that require high bandwidth is not trivial because of the compressibility of air and highly non-linear flow through pneumatic system components. In this paper, we develop a detailed model of a pneumatic actuator system comprised of a double acting cylinder and a proportional servo valve to be used in position, force or hybrid position and force control.

Multiple Sliding Surface Control: Theory and Application

2000 ◽  
Vol 122 (4) ◽  
pp. 586-593 ◽  
Author(s):  
J. K. Hedrick ◽  
P. P. Yip
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Control Input ◽  
Sliding Surface ◽  
Nonlinear Controller ◽  
Automotive Control ◽  
Surface Control ◽  
Surface Method ◽  
Highly Nonlinear ◽  
Automated Highway

This paper discusses the development of a nonlinear controller design methodology and its application to an automotive control problem. The method is called the “Multiple Sliding Surface” method and is closely related to sliding mode control, input/output linearization and integrator backstepping. The method was developed for a class of systems, typical of automotive control systems, where the uncertainties are “mismatched” and where many of the equations contain sparse, experimentally obtained maps. The error bounds on these maps are often unknown and their sparseness makes them difficult to differentiate. The developed method does not require any derivatives and has guaranteed semi-global stability. This paper summarizes the development of the method and applies it to the design of a highly nonlinear system. The example is a combined brake/throttle controller for precision vehicle following. This controller was implemented on the California PATH vehicles in DEMO’97, an automated highway technology demonstration that occurred in San Diego, California in August of 1997. [S0022-0434(00)03004-5]

Hydropower Plant Frequency Control Via Feedback Linearization and Sliding Mode Control

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Xibei Ding ◽  
Alok Sinha
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Frequency Control ◽  
Load Frequency Control ◽  
Hydropower Plant ◽  
Input State ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Nonlinear Controller Design

This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on load frequency control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear proportional-integral (PI) controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady-state error.

scholarly journals Design Fuzzy Input-Based Adaptive Sliding Mode Control for Vessel Lift-Feedback Fin Stabilizers with Shock and Vibration of Waves

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Lihua Liang ◽  
Mingxiao Sun ◽  
Tiantian Luan
Keyword(s):  
Sliding Mode Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Feedback System ◽  
System Stability ◽  
Superior Performance ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Fuzzy Input

An adaptive sliding mode controller based on fuzzy input design is presented, in order to reduce the roll motion of surface vessel fin stabilizers with shock and vibration of waves. The nonlinearities and uncertainties of the system including feedback errors and disturbance induced by waves are analyzed. And the lift-feedback system is proposed, which improves the shortage of conventional fin angle-feedback. Then the fuzzy input-based adaptive sliding mode control is designed for the system. In the controller design, the Lyapunov function is adopted to guarantee the system stability. Finally, experimental results demonstrate the superior performance of the controller designed using fuzzy input, when compared to the PID controller used in practical engineering.

A Nonlinear Controller Design Method for Fuel-Injected Automotive Engines

1988 ◽  
Vol 110 (3) ◽  
pp. 313-320 ◽  
Author(s):  
D. Cho ◽  
J. K. Hedrick
Keyword(s):  
Fuel Injection ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Model Errors ◽  
Nonlinear Controller ◽  
Engine Model ◽  
Automotive Engines ◽  
On Line

A nonlinear, “sliding mode” fuel-injection controller is designed based on a physically motivated, mathematical engine model. The designed controller can achieve a commanded air-to-fuel ratio with excellent transient properties, which offers the potential for improving fuel economy, torque transients, and emission levels. The controller is robust to model errors as well as to rapidly changing maneuvers of throttle and spark advance. The sliding mode control method offers a great potential for future engine control problems, since: it results in a relatively simple control structure that requires little on-line computing and no table lookups; it is robust to model errors and disturbances; and it can be easily adapted to a family of engines.

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