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.

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.

Friction-Compensating Command Shaping for Vibration Reduction

2004 ◽  
Vol 127 (4) ◽  
pp. 307-314 ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose ◽  
Keith Hekman
Keyword(s):  
Steady State ◽  
Coulomb Friction ◽  
Vibration Reduction ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Point Motion ◽  
Common Operation ◽  
Point To Point ◽  
Theoretical Developments

Fast and accurate point-to-point motion is a common operation for industrial machines, but vibration will frequently corrupt such motion. This paper develops commands that can move machines without vibration, even in the presence of Coulomb friction. Previous studies have shown that input shaping can be used on linear systems to produce point-to-point motion with no residual vibration. This paper extends command-shaping theory to nonlinear systems, specifically systems with Coulomb friction. This idea is applied to a PD-controlled mass with Coulomb friction to ground. The theoretical developments are experimentally verified on a solder cell machine. The results show that the new commands allow the proportional gain to be increased, resulting in reduced rise time, settling time, and steady-state error.

Command Shaping Slewing Motions for Tower Cranes

2010 ◽  
Vol 132 (1) ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose
Keyword(s):  
Nonlinear Dynamics ◽  
Rotational Motion ◽  
Effective Control ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Tower Crane ◽  
Control Scheme ◽  
Point To Point ◽  
Gantry Cranes

Input shaping has been shown to be a practical and effective control scheme for reducing payload swing on industrial bridge and gantry cranes. However, when applied to tower cranes, standard input shapers will have degraded performance due to the nonlinear dynamics of rotational motion. To alleviate this problem, two new command generators for tower cranes are developed for a point-to-point slewing motion. It is shown that standard shaping techniques greatly reduce oscillation and the new tower crane command generators cause even less residual vibration. Simulations and experiments verify the results.

MODEL REFERENCE DIRECT ADAPTIVE CONTROL OF NONLINEAR PLANTS USING NEURAL NETWORKS

1994 ◽  
Vol 05 (01) ◽  
pp. 77-82 ◽  
Author(s):  
MOHAMMAD BAHRAMI ◽  
KEITH E. TAIT
Keyword(s):  
Neural Networks ◽  
Feedforward Neural Networks ◽  
Model Reference ◽  
Adaptive Controllers ◽  
Direct Adaptive Control ◽  
Neural Network Controller ◽  
Model Reference Control ◽  
Network Controller ◽  
Identification Stage ◽  
Nonlinear Plants

A learning scheme for multilayer feedforward neural networks used as direct adaptive controllers of nonlinear plants is suggested. This scheme is a supervised steepest descent one that does not require backpropagation of the error. Using a neural network controller trained with this method does not require the identification stage and this makes it superior to the other methodologies. Methods for using neural networks in plant control suggested in the literature are discussed and compared with the proposed system. The structure of the network and the training method used are explained. Simulations based on model reference control of some nonlinear plants show satisfactory performance.

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.

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.

Quantitative Feedback Input Shaping for Flexible-Joint Robot Manipulator

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Dumrongsak Kijdech ◽  
Takat Benjalersyarnon ◽  
Supparat Damyot
Keyword(s):  
Reference Model ◽  
Robot Manipulator ◽  
Simple Zero ◽  
Input Shaping ◽  
Residual Vibration ◽  
Flexible Joint ◽  
Input Shaper ◽  
Time Varying Systems ◽  
Shaping System ◽  
Point To Point

Input shaping technique has been applied to flexible-joint robot to suppress its residual vibration from fast point-to-point movement. Input shaping performance deteriorates when the knowledge of the mode parameters of the robot is not accurate. Several robust input shapers were proposed at the expense of longer move time. A novel input shaping system, consisting of a quantitative feedback controller, a feed-forward reference model, and a simple zero-vibration (ZV) input shaper, is proposed in this paper. Advantages over the existing robust input shapers include toleration of substantially larger amount of uncertainty in the mode parameters, shorter move time that does not increase with insensitivity, application to nonlinear and time-varying systems, and suppression of vibration induced by disturbance and noise.

A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time

2015 ◽  
Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud
Keyword(s):  
Resonant Frequency ◽  
Life Time ◽  
Degree Of Freedom ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Controller Performance ◽  
Multimode System ◽  
Multi Mode

Input shaping and command shaping are important techniques in reducing residual vibrations in rest-to-rest maneuvers. Jerks in these shapers can reduce the life time for the crane motors and electronic boards. In this work, a totally smooth command shaper with an independent adjustable maneuvering time is introduced to eliminate residual vibration in multimode system. The proposed technique is solved analytically and simulated numerically through several examples. Furthermore, the proposed technique requires only the resonant frequency of the system to produce a control profile. The results through several examples show a great controller performance. It is important to mention that the proposed controller can be applied on any discretized multi-degree-of-freedom system.

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