Regulation of a Two-Degree-of-Freedom Structure Using Internal Resonance

1995 ◽  
Vol 117 (2) ◽  
pp. 247-251 ◽  
Author(s):  
Shafic S. Oueini ◽  
Kevin L. Tuer ◽  
M. Farid Golnaraghi
Keyword(s):  
Internal Resonance ◽  
Control Technique ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Flexible Arm ◽  
Control Scheme ◽  
Single Input ◽  
Linear Differential ◽  
Two Degree Of Freedom ◽  
Input Torque

In this paper, we present a first attempt at using an energy based control technique to regulate the oscillations of a flexible joint, flexible arm device, through computer simulation. This technique takes advantage of the Internal Resonance (IR) phenomenon. The plant is governed by two coupled linear differential equations. The control scheme is implemented by introducing two software based controllers which are coupled dynamically with the plant through a nonlinear feedback control law. At Internal Resonance, the nonlinear coupling generates an energy link between the plant and the controllers. Thus, energy is transferred from the plant to the controllers where two active damping mechanisms subsequently dissipate it. Here the response of the structure is regulated with a single input torque applied to one plant coordinate. The theoretical analysis is based on the two-variable expansion perturbation method. Thereafter, the analytical findings are verified numerically. Simulation results indicate that the IR control strategy is able to effectively quench the oscillations of the plant.

Enhanced Composite Nonlinear Control Technique using Adaptive Control for Nonlinear Delayed Systems

2020 ◽  
Vol 13 (3) ◽  
pp. 396-404
Author(s):  
Sonal Singh ◽  
Shubhi Purwar
Keyword(s):  
Adaptive Control ◽  
Actuator Saturation ◽  
Input Saturation ◽  
Chemical Reactor ◽  
Control Technique ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Delayed Systems ◽  
Analysis Of Stability

Background and Introduction: The proposed control law is designed to provide fast reference tracking with minimal overshoot and to minimize the effect of unknown nonlinearities and external disturbances. Methods: In this work, an enhanced composite nonlinear feedback technique using adaptive control is developed for a nonlinear delayed system subjected to input saturation and exogenous disturbances. It ensures that the plant response is not affected by adverse effect of actuator saturation, unknown time delay and unknown nonlinearities/ disturbances. The analysis of stability is done by Lyapunov-Krasovskii functional that guarantees asymptotical stability. Results: The proposed control law is validated by its implementation on exothermic chemical reactor. MATLAB figures are provided to compare the results. Conclusion: The simulation results of the proposed controller are compared with the conventional composite nonlinear feedback control which illustrates the efficiency of the proposed controller.

Tracking Control of Robot Manipulators Using a Robust Deterministic Control Law

1998 ◽  
Vol 120 (4) ◽  
pp. 537-541 ◽  
Author(s):  
C.-G. Kang ◽  
R. Horowitz ◽  
G. Leitmann
Keyword(s):  
Dynamic Systems ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Experimental Studies ◽  
Control Law ◽  
Direct Drive ◽  
Control Scheme ◽  
Deterministic Control ◽  
Two Degree Of Freedom ◽  
Theoretical Developments

There have been theoretical developments on the control of dynamic systems based on deterministically uncertain and singularly perturbed models in recent years. In this paper, a robust deterministic control scheme proposed originally by M. Corless et al. is modified, and is applied to the tracking control of robot manipulators. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluate the effectiveness of the control scheme.

scholarly journals Research of Conventional and Observer Based Controller for Three Tank Interacting System

2019 ◽  
Vol 8 (6S4) ◽  
pp. 1527-1531
Keyword(s):  
Pid Controller ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Law ◽  
Feed Forward ◽  
Single Input Single Output ◽  
Single Output ◽  
Control Scheme ◽  
Single Input ◽  
Forward Gain

In many Industries, the fault tolerant control scheme have been accepted and used from many decades. In this paper, the observer and the observer based Controller is designed for the three tank interacting system. Initially in this work, the three tank interacting system with Single Input Single Output configuration is modeled and conventional PID controller has been implemented, finally the performances are analyzed. Then the observer is designed for the three tank interacting system. Inorder to design the observer based controller, the control law and the feed forward gain value is calculated and described by Chakrabarti A et al.[4]. Finally the observer based controller performances are also analyzed. In this work, the sensor is replaced by the state observer. The observer based controller provides better performance than the conventional PID controller. This work may lead to design fault tolerant control for three tank interacting system in future.

CHAOTIC VIBRATIONS AND RESONANCES IN A FLEXIBLE-ARM ROBOT

1991 ◽  
Vol 15 (3) ◽  
pp. 213-234
Author(s):  
M.F. Golnaraghi
Keyword(s):  
Internal Resonance ◽  
High Speed ◽  
Critical Issue ◽  
Chaotic Vibrations ◽  
Numerical Studies ◽  
Flexible Arm ◽  
Subharmonic Bifurcations ◽  
Jump Phenomena ◽  
Quadratic Nonlinearities ◽  
Two Degree Of Freedom

Once flexibility is introduced into the arm of the robot, severe problems in the accuracy and stability are likely to occur which make control a critical issue. These problems can successfully be eliminated only if the nonlinear dynamics associated with the flexible–arm is properly accounted for. In this paper we study the behaviour of a two degree of freedom high speed robot with a flexible–arm, having quadratic nonlinearities with natural frequencies defined as ω1 and ω2, at ω1 ∝ 2ω2 internal resonance. We perform numerical simulations as well as analytical investigations on a simplified mathematical model of the system, subjected to periodic excitation. The two variable expansion perturbation method is used to show the existence of jump phenomena and ‘saturation’ when both forced resonance and internal resonance occur. Numerical studies indicate the existence of chaotic solutions in the resonance regions. The routes to chaos contain subharmonic bifurcations.

scholarly journals NonlinearH∞Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Zool H. Ismail ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Underwater Vehicle ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Region Tracking

A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinearH∞and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

A Novel Semi-Active Multi-Modal Vibration Control Law for a Piezoceramic Actuator

2003 ◽  
Vol 125 (2) ◽  
pp. 214-222 ◽  
Author(s):  
Lawrence R. Corr ◽  
William W. Clark
Keyword(s):  
Vibration Control ◽  
Flexible Structures ◽  
Experimental Tests ◽  
Control Technique ◽  
Practical Implementation ◽  
Control Law ◽  
Energy Rate ◽  
Piezoceramic Actuator ◽  
Control Scheme ◽  
Modal Vibration

In this paper, a novel semi-active energy rate multi-modal vibration control technique is developed for a piezoceramic actuator coupled to a switching resistor/inductor shunt. The technique works by briefly connecting a resistor/inductor shunt to a piezoceramic actuator in order to apply the necessary signed charge to allow energy dissipation. The switch timing is determined by a control scheme that observes the rate of energy change in controlled modes. The control scheme is developed in the paper, and is simplified to enable practical implementation. This new multi-modal control law is applied to both a simple numerical and an experimental test structure. The results from the numerical and experimental tests show that the energy rate multi-mode control law is able to dissipate energy from one, two and three modes of the flexible structures using a single actuator.

Sliding Mode Based LMI Criterion for Robust Stabilization of Uncertain Fractional Order Nonlinear Systems

2013 ◽  
Author(s):  
Sara Dadras ◽  
YangQuan Chen
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Nonlinear Dynamical Systems ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Mode Control ◽  
Systems Model ◽  
Control Scheme

A robust sliding mode control (SMC) technique is introduced in this paper for a class of fractional order (FO) nonlinear dynamical systems. Using the sliding mode control technique, a sliding surface is determined and the control law is established. A new LMI criterion based on the sliding mode control law is derived to make the states of the FO nonlinear system asymptotically gravitate toward the origin which can work for any order of the system, 0<q<2. The designed control scheme can also control the uncertain FO nonlinear systems, i.e. the controller is robust against the system uncertainty and guarantees the property of asymptotical stability. The advantage of the method is that the control scheme does not depend on the order of systems model and it is fairly simple. So, there is no complexity in the application of our proposed method. An illustrative simulation result is given to demonstrate the effectiveness of the proposed robust sliding mode control design.

A Study of Run-to-Run Control Efficiency for Quality Improvement

2013 ◽  
Vol 328 ◽  
pp. 283-286
Author(s):  
Chien Chih Wang
Keyword(s):  
Simulation Analysis ◽  
Statistical Quality Control ◽  
Control Technique ◽  
Single Input Single Output ◽  
Single Output ◽  
Autoregressive Parameter ◽  
Control Scheme ◽  
Self Tuning ◽  
Single Input ◽  
Quality Control Technique

In a traditional run-to-run control scheme, each run requires starting the controlling model, which results in unnecessary adjustment risks when the process is stable. This study used the statistical quality control technique to calculate the adjustment limit, and proposed the start process controller criterion to prevent over-control. The simulation analysis results of the single-input single-output process showed that when the autoregressive parameter is large, the MSE when using the self-tuning controller in addition to an appropriate adjustment limit is less than that of the EWMA controller with an integrated adjustment limit. When the autoregressive parameter is small, no significant differences of MSE are present, though the EWMA controller with an adjustment limit is advantageous due to easier calculation.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

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