Ball and Beam Balancing Mechanism Actuated With Pneumatic Artificial Muscles

2018 ◽  
Vol 10 (5) ◽  
Author(s):  
Željko Šitum ◽  
Petar Trslić
Keyword(s):  
State Feedback ◽  
Tracking Error ◽  
Design Procedure ◽  
Open Loop ◽  
The State ◽  
Feedback Controller ◽  
Reference Trajectory ◽  
State Feedback Controller ◽  
Beam System ◽  
Muscle Pair

The paper presents the results of modeling and control of an original and unique ball-on-beam system with a pneumatic artificial muscle pair in an antagonistic configuration. This system represents a class of under-actuated, high-order nonlinear systems, which are characterized by an open-loop unstable equilibrium point. Since pneumatic muscles have elastic, nonlinear characteristics, they are more difficult to control. Considering that an additional nonlinearity is added to the system which makes it harder to stabilize. The nonlinear mathematical model has been derived based on the physical model of the ball-on-beam mechanism, the beam rotating by using an antagonistic muscle pair and the pneumatic muscle actuated by a proportional valve. Based on the nonlinear model, the linearized equations of motion have been derived and a control-oriented model has been developed, which is used in the state feedback controller design procedure. The proposed state feedback controller has been verified by means of computer simulations and experimentally on the laboratory setup. The simulation and experimental results have shown that the state feedback controller can stabilize the ball-on-beam system around an equilibrium position in the presence of external disturbances and to track a reference trajectory with a small tracking error.

BIFURCATION CONTROL OF A CONGESTION CONTROL MODEL VIA STATE FEEDBACK

2013 ◽  
Vol 23 (06) ◽  
pp. 1330018 ◽  
Author(s):  
MIN XIAO ◽  
WEI XING ZHENG ◽  
JINDE CAO
Keyword(s):  
Hopf Bifurcation ◽  
Congestion Control ◽  
State Feedback ◽  
Stability Domain ◽  
Control Model ◽  
The State ◽  
Feedback Controller ◽  
Bifurcation Control ◽  
Gain Parameter ◽  
State Feedback Controller

This paper proposes to use a state feedback method to control the Hopf bifurcation for a novel congestion control model, i.e. the exponential random early detection (RED) algorithm with a single link and a single source. The gain parameter of the congestion control model is chosen as the bifurcation parameter. The analysis shows that in the absence of the state feedback controller, the model loses stability via the Hopf bifurcation early, and can maintain a stationary sending rate only in a certain domain of the gain parameter. When applying the state feedback controller to the model, the onset of the undesirable Hopf bifurcation is postponed. Thus, the stability domain is extended, and the model possesses a stable sending rate in a larger parameter range. Furthermore, explicit formulae to determine the properties of the Hopf bifurcation are obtained. Numerical simulations are given to justify the validity of the state feedback controller in bifurcation control.

scholarly journals State variable-fuzzy prediction control strategy for superheated steam temperature of thermal power units

2021 ◽  
Vol 25 (6 Part A) ◽  
pp. 4083-4090
Author(s):  
Xuan Tu ◽  
Jiakui Shi ◽  
Kun Yao ◽  
Jie Wan ◽  
Fei Qiao
Keyword(s):  
State Feedback ◽  
Superheated Steam ◽  
Thermal Power ◽  
The State ◽  
Feedback Controller ◽  
Steam Temperature ◽  
State Feedback Controller ◽  
State Variable ◽  
Superheated Steam Temperature ◽  
Fuzzy State

With the large-scale grid connection of new energy power, the random fluctuation existing in the power system is intensified, which leads to frequent fluctuation of load instructions of thermal power units. It is of great significance to improve the variable load performance of the coal-fired units. It is more difficult to control the superheated steam temperature (SST). In order to improve the control performance of SST, a state variable fuzzy predictive control method is proposed in this paper. Firstly, Takagi-Sugeno fuzzy state observer is used to approximate the non-linear plant of the SST. At the same time, based on the state observer, a fuzzy state feedback controller is designed to improve its dynamic characteristics. Thirdly, based on the extended predictive model of the state feedback controller, a model predictive controller is designed to realize the SST tracking control. Dynamic simulation shows the effectiveness of the strategy.

H∞ fuzzy proportional integral state feedback controller of photovoltaic systems under asymmetric actuator constraints

2020 ◽  
pp. 014233122092157
Author(s):  
K Houda ◽  
D Saifia ◽  
M Chadli ◽  
S Labiod
Keyword(s):  
State Feedback ◽  
Reference Model ◽  
Tracking Error ◽  
Control Design ◽  
Atmospheric Condition ◽  
Boost Converter ◽  
Feedback Controller ◽  
Duty Ratio ◽  
Linear Matrix ◽  
State Feedback Controller

This paper presents a new strategy for a robust maximum power point (MPP) tracking fuzzy controller for photovoltaic (PV) systems subject to actuator asymmetric saturation. A DC-DC boost converter is used to connect a PV panel with an output load. The output voltage of the DC-DC boost converter can be adjusted by duty ratio that is limited between 0 and 1. The aim of our control design is to track the MPP under atmospheric condition changes and the presence of the asymmetric saturation of the duty ratio. To minimize tracking error and disturbance effect, the dynamic behaviour of a PV system and its reference model are described by using Takagi–Sugeno fuzzy models. Then, a constrained control based on a fuzzy PI state feedback controller is proposed. The H∞ control approach is used in control design and stability conditions of the closed-loop system are formulated and solved in terms of linear matrix inequalities. Finally, simulation results are given to show the tracking performance of the control design.

State Feedback Controller - An Alternative Approach Applied to Unmanned Aerial Vehicle

2014 ◽  
Vol 704 ◽  
pp. 270-276
Author(s):  
Renato A. Aguiar ◽  
Fabrizio Leonardi
Keyword(s):  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
State Feedback ◽  
The State ◽  
Feedback Controller ◽  
Feedback Gain ◽  
State Feedback Controller ◽  
Alternative Approach ◽  
Aerial Vehicle ◽  
Alternative Methodology

The primary goal of this work is to propose an alternative methodology as a first approach in the design of control systems by means of a feedback state gain. The proposed method is detailed and an application is presented. The results show relevant aspects regarding the state feedback gain, especially in regard to variation in the parameters of the plant.

scholarly journals Design of an adaptive state feedback controller for a magnetic levitation system

2020 ◽  
Vol 10 (5) ◽  
pp. 4782
Author(s):  
Omar Waleed Abdulwahhab
Keyword(s):  
Equilibrium Point ◽  
State Feedback ◽  
Magnetic Levitation ◽  
The State ◽  
Feedback Controller ◽  
Pole Placement ◽  
Operating Point ◽  
State Feedback Controller ◽  
Levitation System ◽  
Magnetic Levitation System

This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.

State feedback stabilization for nonlinear systems with more general high-order terms

2018 ◽  
Vol 41 (3) ◽  
pp. 615-620
Author(s):  
Tiancheng Wang ◽  
Shi Zheng ◽  
Wuquan Li
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Design Method ◽  
High Order ◽  
The State ◽  
Feedback Stabilization ◽  
Feedback Controller ◽  
Closed Loop System ◽  
Globally Asymptotically Stable ◽  
State Feedback Controller

This paper aims to solve the state feedback stabilization problem for a class of high-order nonlinear systems with more general high-order terms. Based on the backstepping design method and Lyapunov stability theorem, a state feedback controller is constructed to ensure that the origin of the closed-loop system is globally asymptotically stable. The efficiency of the state feedback controller is demonstrated by a simulation example.

scholarly journals Design and Analysis of a Variable Buoyancy System for Efficient Hovering Control of Underwater Vehicles with State Feedback Controller

2020 ◽  
Vol 8 (4) ◽  
pp. 263 ◽  
Author(s):  
Brij Kishor Tiwari ◽  
Rajiv Sharma
Keyword(s):  
State Feedback ◽  
Autonomous Underwater Vehicles ◽  
Weather Conditions ◽  
Underwater Vehicles ◽  
Open Loop ◽  
Rate Of Change ◽  
Feedback Controller ◽  
State Feedback Controller ◽  
Adverse Weather ◽  
Hovering Control

The design process for Variable Buoyancy System (VBS) is not known in full, and existing approaches are not scalable. Furthermore, almost all the small size Autonomous Underwater Vehicles/Gliders (AUVs/G’s) use very low capacity of buoyancy change (in the range of few milliliters) and the large size AUVs require large buoyancy change. Especially for adverse weather conditions, emergency recovery or defense-related applications, higher rate of rising/sinking (heave velocity) is needed along with an ability to hover at certain depth of operation. Depth of UVs can be controlled either by changing the displaced volume or by changing the overall weight and, herein, our focus is on the later. This article presents the problem of design and analysis of VBS for efficient hovering control of underwater vehicles at desired depth using the state feedback controller. We formulate and analyze the design and analysis approach of VBS using the fundamental of mechanics, system dynamics integration and control theory. Buoyancy is controlled by changing the overall weight of the vehicle using the ballasting/de-ballasting of water in ballast tanks through the use of Positive Displacement Pump (PDP) for control in heave velocity and hovering depth. Furthermore, detailed mass metric analysis of scalable design of VBS for different buoyancy capacities is performed to analyze the overall performance of the VBS. Also, the performances of AUVs integrated with VBS of different buoyancy capacities are investigated in both the open loop and closed loop with the LQR state feedback controller. Hovering performance results are presented for three Design Examples (DEs) of AUVs with 2.8 m, 4.0 m and 5.0 m length and they are integrated with various buoyancy capacities at 9 kg/min rate of change of buoyancy. Results indicate that the AUVs achieve the desired depth with almost negligible steady state error and when they reach the desired hovering depth of 400 m the maximum pitch angle achieved of 16.5 degree for all the Des is observed. Maximum heave velocity achieved during sinking is 0.44 m/s and it reduces to zero when the vehicle reaches the desired depth of hovering. The presented computer simulation results indicate good performance and demonstrate that the designed VBS is effective and efficient in changing the buoyancy, controlling and maintaining the depth, controlling the heave velocity and can be used in rescue/attack operations of both the civil and defense UVs.

Fuzzy Comprehensive Evaluation for Two Kinds of Suspension Controllers

2017 ◽  
Vol 865 ◽  
pp. 561-564
Author(s):  
Rong Rong Song
Keyword(s):  
Genetic Algorithm ◽  
State Feedback ◽  
Comprehensive Evaluation ◽  
Fuzzy Comprehensive Evaluation ◽  
Suspension System ◽  
The State ◽  
Feedback Controller ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
State Feedback Controller

In order to improve the nonlinear and uncertain characteristics of the suspension system, using the differential geometry, the suspension system is transformed into two linear subsystems. The state feedback controller and the proportional integral derivative (PID) controller based on the genetic algorithm are designed, and the fuzzy comprehensive evaluation method based on the analytic hierarchy process is modified, which can evaluate the suspension performance of the controllers. The evaluation results show that the proportional integral derivative controller with the genetic algorithm is better than the state feedback controller.

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