Robust Approach for Position Control of Hydraulic Differential Cylinder

2007 ◽  
Author(s):  
Yan Liu ◽  
Dirk So¨ffker
Keyword(s):  
Feedback Linearization ◽  
Position Control ◽  
Single Input Single Output ◽  
Control Approach ◽  
Luenberger Observer ◽  
Single Output ◽  
Cylinder Test ◽  
Highly Nonlinear ◽  
Feedback Linearization Control ◽  
Feedback Linearization Approach

The paper introduces a robust nonlinear control approach for the position control of hydraulic differential cylinder. The behavior of a hydraulic differential cylinder is highly nonlinear. A perfect model is usually not available. So nevertheless a robust control is required, to guarantee the performance of the cylinder, usually based on an imperfect model. The presented approach combining the classical feedback linearization approach and an extended Luenberger observer technique is robust to model uncertainties or unknown effects acting to the system, for example as unknown load, and can be applied to single-input single-output (SISO) nonlinear systems. It improves the robustness and extends the application area of feedback linearization control. The approach is implemented and tested on a hydraulic differential cylinder test rig. Theoretical proofs and experimental results are presented.

Controller Design For Nonlinear Systems Based on Simultaneous Stabilization Theory and Describing Function Models

1988 ◽  
Vol 110 (2) ◽  
pp. 134-142 ◽  
Author(s):  
A. Nassirharand ◽  
J. H. Taylor ◽  
K. N. Reid
Keyword(s):  
Position Control ◽  
Controller Design ◽  
Design Procedure ◽  
Describing Function ◽  
Simultaneous Stabilization ◽  
Single Input Single Output ◽  
Single Output ◽  
Highly Nonlinear ◽  
Sinusoidal Input ◽  
Function Models

A new systematic and algebraic linear control system design procedure for use with highly nonlinear plants is developed. This procedure is based on simultaneous stabilization theory and sinusoidal-input describing function models of the nonlinear plant, and is presently applicable to single-input single-output, time-invariant, deterministic, stable, and continuous-time systems which are representable in standard state-variable differential equation form. Three software utilities to implement the controller design procedure are also outlined. This method and the associated software is applied to a position control problem of the sort encountered in robotics, and the results are compared with those previously obtained using both linear and nonlinear PID control.

scholarly journals Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 10 ◽  
Author(s):  
Alessandro Palmieri ◽  
Renato Procopio ◽  
Andrea Bonfiglio ◽  
Massimo Brignone ◽  
Marco Invernizzi ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Industrial Applications ◽  
Single Input Single Output ◽  
First Order ◽  
Control Techniques ◽  
Single Output ◽  
System A ◽  
Single Input

Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here.

Optimal Decoupled Disturbance Observers for Dual-Input Single-Output Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Xu Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Disturbance Observer ◽  
Filter Design ◽  
Spectral Characteristics ◽  
Hard Disk Drives ◽  
Disk Drives ◽  
Single Input Single Output ◽  
Control Approach ◽  
Single Output ◽  
Dual Stage ◽  
Single Input

The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dual- and multi-input single-output systems, and discusses an optimal filter design technique for the related loop-shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use the most suitable actuators for compensating disturbances with different spectral characteristics. Such a generalization is helpful, e.g., for modern dual-stage hard disk drives, where enhanced servo design is becoming more and more essential in the presence of vibration disturbances.

Approximate Feedback Linearization Control for High Precision Hydraulic Parallel Machine Tool

2010 ◽  
Vol 148-149 ◽  
pp. 126-129
Author(s):  
Chi Fu Yang ◽  
Shu Tao Zheng ◽  
Peter O. Ogbobe ◽  
Jun Wei Han
Keyword(s):  
Machine Tool ◽  
Feedback Linearization ◽  
High Efficiency ◽  
Complex Dynamics ◽  
Parallel Machine ◽  
Industrial Applications ◽  
Time Step ◽  
Feedback Linearization Control ◽  
Parallel Machine Tool ◽  
Feedback Linearization Approach

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to complex dynamics of plant. In order to improve the tracking performance of hydraulic parallel machine tool and limit the drawbacks of TFL, a novel approximate feedback linearization approach is proposed in this paper. The mathematical models of hydraulic parallel machine tool are established using Kane method and hydromechanics. The approximate feedback linearization control is designed for the parallel machine tool in joint space, with the position and the stored data in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is readily and effective to realize path tracking, it exhibits excellent performance and high efficiency without a precision dynamics of plant. Moreover, the presented algorithm is well suitable for most industrial applications.

scholarly journals Feedback Linearization Based Robust Control for Linear Permanent Magnet Synchronous Motors

Energies ◽  
2020 ◽  
Vol 13 (20) ◽  
pp. 5242
Author(s):  
Yung-Te Chen ◽  
Chi-Shan Yu ◽  
Ping-Nan Chen
Keyword(s):  
Robust Control ◽  
Permanent Magnet ◽  
Feedback Linearization ◽  
Position Control ◽  
Feedback Controller ◽  
Permanent Magnet Synchronous Motors ◽  
Synchronous Motors ◽  
Linear Motors ◽  
Highly Nonlinear ◽  
The Impact

In this study, we designed a feedback linearization control strategy for linear permanent magnet synchronous motors (LPMSMs) as well as a robust control mechanism. First, the highly nonlinear system was transformed into an exact linear system by the feedback linearization technique. Then, we designed a robust controller to mitigate the impact of system parameter disturbances on system performance. This novel robust feedback controller can be applied to electromagnetic force, speed and position control loops in linear motors, correct the errors created by uncertainty factors in the entire system in real time, and set the system’s settling time based on the application environment of the plant. Finally, we performed simulations and experiments using a PC-based motor control system, which demonstrated that the proposed robust feedback controller can achieve good performance in the controlled system with robust anti-disturbance control.

Design of Robust Mixed Fuzzy Controller for Gas Metal Arc Welding Process

2006 ◽  
Author(s):  
Ata Allah Eftekharian ◽  
Hasan Sayyaadi ◽  
Mohammad Amin Tadayon
Keyword(s):  
Arc Welding ◽  
Fuzzy Controller ◽  
Gas Metal Arc Welding ◽  
Welding Process ◽  
Single Input Single Output ◽  
Single Output ◽  
Metal Arc Welding ◽  
Highly Nonlinear ◽  
Arc Welding Process ◽  
Fifth Order

Welding is an important manufacturing process that can be automated and optimized. In this paper we discuss the Gas Metal Arc Welding (GMAW) control and modeling problem. For modeling the process recently developed highly nonlinear fifth order mathematical model is used, for controlling the GMAW process we use a new Mixed Fuzzy Control (MFC) structure. In this work first a Traditional Fuzzy Controller (TFC) is designed from the viewpoint of a Single-Input Single-Output (SISO) system for controlling each state of GMAW process. Then, an appropriate coupling fuzzy controller is also designed according to the characteristics of gas metal arc welding process and incorporated into a TFC. We then show by simulation that this control strategy can not only improve the tracking performance of the controller, but also can deal with model uncertainty and disturbances.

Robust Feedback Linearization Approach to Pitch Autopilot Design

2011 ◽  
Vol 403-408 ◽  
pp. 4667-4673 ◽  
Author(s):  
Ashwini A. Godbole ◽  
S. E. Talole
Keyword(s):  
Feedback Linearization ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
System Uncertainty ◽  
Highly Nonlinear ◽  
System Uncertainties ◽  
Simulation Results ◽  
Feedback Linearization Approach

This paper presents a robust Feedback Linearization (FL) based pitch plane autopilot design for a highly maneuvering, skid-to-turn, tail controlled tactical missile. Owing to the highly nonlinear missile dynamics, firstly a feedback linearization based controller is proposed. As the resulting design lacks robustness, the issue is addressed by robustifyng the FL based controller using Extended State Observer (ESO). The system uncertainties are estimated by the ESO and the estimate is used in the FL control to nullify it’s effect. A novel feature of this technique is that it does not require any knowledge of the system uncertainty. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

Friction-Compensating Feedback Linearization Control Applied to a Pneumatic Servo System

2014 ◽  
Vol 902 ◽  
pp. 219-224
Author(s):  
Mario R. Sobczyk S. ◽  
Ricardo M. Suzuki ◽  
Carlos A.C. Sarmanho Jr. ◽  
Eduardo A. Perondi
Keyword(s):  
Mathematical Model ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Closed Loop ◽  
Positioning System ◽  
Convergence Properties ◽  
Tracking Errors ◽  
Highly Nonlinear ◽  
Feedback Linearization Control ◽  
Pneumatic Servo System

This work proposes a feedback linearization control algorithm to be applied to a pneumatic positioning system. Such algorithm aims to compensate the undesirable effects due to the highly nonlinear dynamic behavior of such type of actuator. A mathematical model of the system is presented and the proposed controller is described. Besides, an analysis is provided of the convergence properties of the closed-loop tracking errors of the system when such controller is used. The main features of the proposed controller are illustrated by means of experimental results and respective discussions.

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