Orbit Motion Tracking Control for Rotating Machine With Magnetic Suspensions

2005 ◽  
Author(s):  
Guangyoung Sun
Keyword(s):  
Tracking Control ◽  
Motion Tracking ◽  
Sliding Mode ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Rotating Stall ◽  
Phase Lag ◽  
Potential Applications ◽  
Optimal Bias ◽  
High Bandwidth

Conventional use of active magnetic bearings (AMB) focuses on keeping a rotor centered at the zero reference. In this research, a control algorithm is developed for an alternate task of tracking high-bandwidth sinusoidal targets: whirling and conical motions. To increase robustness to the parametric uncertainty and the nonlinearity of inherent AMB dynamics, the sliding mode control is developed based on an original nonlinear AMB model with an uncertain magnetic force constant. Performance indices, such as the I2R power loss, the tracking error and the phase lag, are compared for the two target motions, and they are also utilized to find an optimal bias current of the actuators. Simulation results show that the rotor follows the two high-bandwidth large motion targets with low tracking error and phase lag in the presence of parametric uncertainty. Orbit motion tracking control has a variety of potential applications in rotating machinery such as active rotating stall control, in which seal clearance is required to follow a sinusoidal dynamic motion.

Large motion tracking control for thrust magnetic bearings with fuzzy logic, sliding mode, and direct linearization

2003 ◽  
Vol 263 (3) ◽  
pp. 549-567 ◽  
Author(s):  
T.P. Minihan ◽  
S. Lei ◽  
G. Sun ◽  
A. Palazzolo ◽  
A.F. Kascak ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Motion Tracking ◽  
Sliding Mode ◽  
Magnetic Bearings ◽  
Direct Linearization ◽  
Large Motion

Nonlinear Tracking Control of a Transient Hydrostatic Dynamometer for Hybrid Powertrain Research

2010 ◽  
Author(s):  
Yu Wang ◽  
Zongxuan Sun ◽  
Kim A. Stelson
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Weight Ratio ◽  
Pressure Control ◽  
State Feedback Control ◽  
Hybrid Powertrain ◽  
Power Sources ◽  
Model Based ◽  
Nonlinear Tracking ◽  
High Bandwidth

With its superior power to weight ratio, the hydrostatic dynamometer is an ideal candidate for transient engine or powertrain testing. Given its high bandwidth, the hydrostatic dynamometer can be further used as a virtual power source to emulate the dynamics of the automotive hybrid power sources. This will greatly expedite the investigation of various hybrid powertrain architectures and control methodologies without building the complete hybrid system. This paper presents the design, modeling, nonlinear tracking control and experimental investigation of a transient hydrostatic dynamometer. An electronically controlled load sensing mechanism is employed to facilitate the supply pressure control, and a two-stage high bandwidth valve is used as the primary actuator for the loading pressure control. To enable the model-based control, a 9th order physics-based model is formulated and then, identified and validated with experimental data. On this basis, model-based nonlinear tracking controls are designed for this multivariable nonlinear system to realize the precise engine speed tracking. A nonlinear model-based inversion plus PID control is first implemented and then, a state feedback control via feedback linearization is designed for reference tracking. Experimental results demonstrate precise tracking performance with less than 5% tracking error for both transient and steady state operations.

An Algorithm for Robust Tracking Control of Robots

Robotica ◽  
1991 ◽  
Vol 9 (1) ◽  
pp. 53-62 ◽  
Author(s):  
Zoran R. Novaković ◽  
Leon Z˘lajpah
Keyword(s):  
Tracking Control ◽  
Error Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Control Synthesis ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Time Simulation ◽  
Inverse Kinematics Problem

SUMMARYBased on the Lyapunov theory, a new principle was developed for synthesizing robot tracking control in the presence of model uncertainties. First, a general Lyapunov-like robust tracking concept is presented. It is then used as a basis for the control algorithm derived via a quadratic Lyapunov function constructed using a sliding mode function (based on the output error). Control synthesis is made in task-space, without any need for solving the inverse kinematics problem, i.e. one does not need to inver the Jacobian matrix. It is also shown that the tracking error becomes close to zero in a settling time which is less than a prescribed finite time. Simulation results are incorporated.

scholarly journals Discrete-Time Sliding Mode Control Coupled with Asynchronous Sensor Fusion for Rigid-Link Flexible-Joint Manipulators

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Guangyue Xue ◽  
Xuemei Ren ◽  
Kexin Xing ◽  
Qiang Chen
Keyword(s):  
Sensor Fusion ◽  
Discrete Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Estimation Error ◽  
Tracking Error ◽  
Sampling Rate ◽  
Experimental Studies ◽  
Flexible Joint ◽  
Rigid Link

This paper proposes a novel discrete-time terminal sliding mode controller (DTSMC) coupled with an asynchronous multirate sensor fusion estimator for rigid-link flexible-joint (RLFJ) manipulator tracking control. A camera is employed as external sensors to observe the RLFJ manipulator’s state which cannot be directly obtained from the encoders since gear mechanisms or flexible joints exist. The extended Kalman filter- (EKF-) based asynchronous multirate sensor fusion method deals with the slow sampling rate and the latency of camera by using motor encoders to cover the missing information between two visual samples. In the proposed control scheme, a novel sliding mode surface is presented by taking advantage of both the estimation error and tracking error. It is proved that the proposed controller achieves convergence results for tracking control in the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

On the Taylor series asymptotic tracking control of robots

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 405-427 ◽  
Author(s):  
Seyed Mohammad Ahmadi ◽  
Mohammad Mehdi Fateh
Keyword(s):  
Taylor Series ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Series System ◽  
Control Methods ◽  
Asymptotic Tracking ◽  
Modelling Error ◽  
Non Parametric

SUMMARYAchieving the asymptotic tracking control of electrically driven robot manipulators is a challenging problem due to approximation/modelling error arising from parametric and non-parametric uncertainty. Thanks to the specific property of Taylor series systems as they are universal approximators, this research outlines two robust control schemes using an adaptive Taylor series system for robot manipulators, including actuators' dynamics. First, an indirect adaptive controller is designed such as to approximate an uncertain continuous function by using a Taylor series system in the proposed control law. Second, a direct adaptive scheme is established to employ the Taylor series system as a controller. In both controllers, not only a robustifying term is constructed using the estimation of the upper bound of approximation/modelling error, but the closed-loop stability, as well as the asymptotic convergence of joint-space tracking error and its time derivative, is ensured. Due to the design of the Taylor series system in the tracking error space, our technique clearly has an advantage over fuzzy and neural network-based control methods in terms of the small number of tuning parameters and inputs. The proposed methods are simple, model free in decentralized forms, no need for uncertainty bounding functions and perfectly capable of dealing with parametric and non-parametric uncertainty and measurement noise. Finally, simulation results are introduced to confirm the efficiency of the proposed control methods.

Magnetic attitude tracking control of gravity gradient microsatellite in orbital transfer

2019 ◽  
Vol 123 (1269) ◽  
pp. 1881-1894
Author(s):  
Liang Sun ◽  
Zhiwen Wang ◽  
Guowei Zhao ◽  
Hai Huang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Gravity Gradient ◽  
Control Torque ◽  
Orbital Transfer ◽  
Attitude Tracking ◽  
Lyapunov Stability Analysis ◽  
Attitude Tracking Control ◽  
The Magnetic Field

ABSTRACTThe problem of the magnetic attitude tracking control is studied for a gravity gradient microsatellite in orbital transfer. The contributions of the work are mainly shown in two aspects: (1) the design of an expected attitude trajectory; (2) a method of the magnetic attitude tracking control. In orbital transfer, the gravity gradient microsatellite under a constant thrust shows complicated dynamic behaviours. In order to damp out the pendular motion, the gravity gradient microsatellite is subject to the the attitude tracking problem. An expected attitude trajectory is designed based on dynamic characteristics revealed in the paper, which not only ensures the flight safety of the system, but also reduces the energy consumption of the controller. Besides, the control torque produced by a magnetorquer is constrained to lie in a two-dimensional plane orthogonal to the magnetic field, so an auxiliary compensator is proposed to improve the control performance, which is different from existing magnetic control methods. In addition, a sliding mode control based on the compensator is presented, and the Lyapunov stability analysis is performed to show the global convergence of the tracking error. Finally, a numerical case of the gravity gradient microsatellite is studied to demonstrate the effectiveness of the proposed tracking control.

scholarly journals Observer-Based Robust Tracking Control for a Class of Switched Nonlinear Cascade Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Ben Niu ◽  
Deqing Zhao ◽  
Xudong Zhao ◽  
Hongyi Li ◽  
Xiangyong Chen ◽  
...  
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Design Procedure ◽  
Nonlinear Observer ◽  
State Transformation ◽  
Robust Tracking Control ◽  
Cascade Systems ◽  
Nonlinear Sliding Mode Control

This paper is devoted to robust output feedback tracking control design for a class of switched nonlinear cascade systems. The main goal is to ensure the global input-to-state stable (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. First, a nonlinear observer is constructed through state transformation to reconstruct the unavailable states, where only one parameter should be determined. Then, by virtue of the nonlinear sliding mode control (SMC), a discontinuous nonlinear output feedback controller is designed using a backstepping like design procedure to ensure the ISS property. Finally, an example is provided to show the effectiveness of the proposed approach.

Adaptive Method to Trajectory Tracking for Lane Changing

2014 ◽  
Vol 590 ◽  
pp. 413-417 ◽  
Author(s):  
Dian Bo Ren ◽  
Guan Zhe Zhang ◽  
Cong Wang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Adaptive Method ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Lane Changing ◽  
Estimation Formula ◽  
Direct Adaptive Method

In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.

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