Optimized Input-Shaped Model Reference Control on Double-Pendulum System

2018 ◽  
Vol 140 (10) ◽  
Author(s):  
Daichi Fujioka ◽  
William Singhose
Keyword(s):  
Reference Model ◽  
Optimization Technique ◽  
Double Pendulum ◽  
Time Duration ◽  
Control Effort ◽  
Model Reference ◽  
Pendulum System ◽  
Model Reference Control ◽  
Oscillation Suppression ◽  
Effort Reduction

This paper presents an optimized input-shaped model reference control (OIS-MRC) for limiting oscillation of multimode flexible systems. The controller is analyzed by using it to control an uncertain, time-varying double pendulum using a linear single-pendulum reference model. Single- and double-pendulum dynamics are presented, and the significant natural frequency ranges of the double pendulum are calculated. A Lyapunov control law using only the first mode states of the plant is obtained. An optimization technique is used to obtain the OIS-MRC controller parameters that realizes the shortest time duration, while meeting a set of design constraints. The oscillation suppression, control effort reduction, and disturbance rejection performances of the proposed OIS-MRC controller are tested via numerical simulations and experiments. The OIS-MRC achieves a robust oscillation suppression performance, while reducing the rise time.

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

Feasibility of Two-Dimensional Control for Ship-Mounted Cranes

2001 ◽  
Author(s):  
Eihab M. Abdel-Rahman ◽  
Ali H. Nayfeh
Keyword(s):  
Natural Frequencies ◽  
Three Dimensional ◽  
Major Axis ◽  
Double Pendulum ◽  
Spherical Pendulum ◽  
Safe Operation ◽  
Control Effort ◽  
Pendulum System ◽  
Out Of Plane ◽  
The One

Abstract We test the feasibility of employing an exclusively planar control effort to suppress unsafe ship-mounted crane pendulations induced by sea motions. The new crane configuration, designed to apply the control effort, is modeled and the proposed control effort, employing Coulomb friction and viscous damping, is applied. The three-dimensional nonlinear dynamics of the crane is then investigated. The new crane configuration, dubbed Maryland Rigging, transforms a crane from a single spherical pendulum to a double pendulum system. The upper pendulum, a pulley riding on a cable suspended from the boom, is constrained to move over an ellipsoid. The major axis of the ellipsoid is the boom and the foci are the two points at which the riding cable attaches to it. The lower pendulum, the payload suspended by a cable from the pulley, continues to act as a spherical pendulum. Due to the geometry of the ellipsoid, the natural frequencies of the crane in the plane of the boom (in-plane) are almost equal to the out-of-plane natural frequencies. The model is used to examine the response of a Maryland rigged crane to direct, in-plane, harmonic forcing. The frequency of the excitation is set almost equal to the crane’s lowest natural frequency. It is found that under this excitation and due to the one-to-one internal resonance between the lowest in-plane and out-of-plane natural frequencies, significant out-of-plane motions are induced by applying a purely in-plane forcing. Thus an in-plane control mechanism is not adequate for safe operation of the crane. To guarantee safe operation of a ship-mounted crane, one must apply both in-plane and out-of-plane control efforts.

Two-Dimensional Control for Ship-Mounted Cranes: A Feasibility Study

2003 ◽  
Vol 9 (12) ◽  
pp. 1327-1342 ◽  
Author(s):  
Eihab Abdel-Rahman ◽  
Ali H Nayfeh
Keyword(s):  
Natural Frequencies ◽  
Three Dimensional ◽  
Major Axis ◽  
Double Pendulum ◽  
Spherical Pendulum ◽  
Safe Operation ◽  
Control Effort ◽  
Pendulum System ◽  
Out Of Plane ◽  
The One

We test the feasibility of employing an exclusively planar control effort to suppress unsafe ship-mounted crane pendulations induced by sea motions. The new crane configuration, designed to apply the control effort, is modeled and the proposed control effort, employing Coulomb friction and viscous damping, is applied. The three-dimensional nonlinear dynamics of the crane is then investigated. The new crane configuration, dubbed Maryland rigging, transforms a crane from a single spherical pendulum to a double pendulum system. The upper pendulum, a pulley riding on a cable suspended from the boom, is constrained to move over an ellipsoid. The major axis of the ellipsoid is the boom and the foci are the two points at which the riding cable attaches to it. The lower pendulum, the payload suspended by a cable from the pulley, continues to act as a spherical pendulum. Due to the geometry of the ellipsoid, the natural frequencies of the crane in the plane of the boom (in-plane) are almost equal to the out-of-plane natural frequencies. The model is used to examine the response of a Maryland rigged crane to direct, in-plane, harmonic forcing. The frequency of the excitation is set almost equal to the crane's lowest natural frequency. It is found that under this excitation and due to the one-to-one internal resonance between the lowest in-plane and out-of-plane natural frequencies, significant out-of-plane motions are induced by applying a purely in-plane forcing. Thus, an in-plane control mechanism is not adequate for safe operation of the crane. To guarantee safe operation of a ship-mounted crane, both in-plane and out-of-plane control efforts must be applied.

Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints

2019 ◽  
Author(s):  
Gerald Eaglin ◽  
Joshua Vaughan
Keyword(s):  
Reference Model ◽  
Electromagnetic Actuator ◽  
Input Shaping ◽  
Input Constraints ◽  
Residual Vibration ◽  
Model Reference ◽  
Command Shaping ◽  
Model Reference Control ◽  
Limiting Property ◽  
Nonlinear Plants

Abstract Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.

scholarly journals A Novel Non-integer Indirect Adaptive Control for Non-integer Order Systems with Non-prior Knowledge

2020 ◽  
Vol 10 (1) ◽  
pp. 5186-5190
Author(s):  
B. Bourouba ◽  
S. Ladaci
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Reference Model ◽  
Model Reference ◽  
Fractional Model ◽  
Integer Order ◽  
Model Reference Control ◽  
Indirect Adaptive Control ◽  
The Stability ◽  
Model Reference Adaptive

In this study, a new non-integer indirect adaptive control method with reference model is suggested for the class of non-integer order systems. The objective of model reference control is to include the output of the given reference fractional model in tracking the output of a controlled plant by using the concept of on-line goal adaptation. The stability of the closed-loop system is analyzed via the Lyapunov method. Finally, Matlab simulation results are presented to illustrate the effectiveness of the proposed method of indirect fractional model reference adaptive control.

scholarly journals Neural Network based Direct MRAC Technique for Improving Tracking Performance for Nonlinear Pendulum System

2020 ◽  
Vol 1 (2) ◽  
pp. 1-15
Author(s):  
Alemie Assefa ◽  
Keyword(s):  
Neural Network ◽  
Nonlinear System ◽  
Reference Model ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Conventional Model ◽  
Model Reference ◽  
Pendulum System ◽  
Nonlinear Pendulum ◽  
Model Reference Adaptive

This paper investigates the application of a neural network-based model reference adaptive intelligent controller for controlling the nonlinear systems. The idea is to control the plant by minimizing the tracking error between the desired reference model and the nonlinear system using conventional model reference adaptive controller by estimating the adaptation law using a multilayer backpropagation neural network. In the conventional model reference adaptive controller block, the controller is designed to realize the plant output converges to reference model output based on the plant, which is linear. This controller is effective for controlling the linear plant with unknown parameters. However, controlling of a nonlinear system using MRAC in real-time is difficult. The Neural Network is used to compensate the nonlinearity and disturbance of the nonlinear pendulum that is not taken into consideration in the conventional MRAC therefore, the proposed paper can significantly improve the system behaviour and force the system to behave the reference model and reduce the error between the model and the plant output. Adaptive law using Lyapunov stability criteria for updating the controller parameters online has been formulated. The behaviour of the proposed control scheme is verified by developing the simula-tion results for a simple pendulum. It is shown that the proposed neural network-based Direct MRAC has small rising time, steady-state error and settling time for a different disturbance than Conventional Direct MRAC adaptive control.

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