scholarly journals Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator

2011 ◽  
Vol 2011 ◽  
pp. 1-18 ◽  
Author(s):  
M. Santhakumar
Keyword(s):  
Degrees Of Freedom ◽  
Reference Model ◽  
Dynamic Performance ◽  
Backstepping Control ◽  
Parameter Uncertainties ◽  
Robust Tracking Control ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Hydrodynamic Effects

This paper investigates the performance of a new robust tracking control on the basis of proportional-derivative observer-based backstepping control applied on a three degrees of freedom underwater spatial manipulator. Hydrodynamic forces and moments such as added mass effects, damping effects, and restoring effects can be large and have a significant effect on the dynamic performance of the underwater manipulator. In this paper, a detailed closed-form dynamic model is derived using the recursive Newton-Euler algorithm, which extended to include the most significant hydrodynamic effects. In the dynamic modeling and simulation, the actuator and sensor dynamics of the system are also incorporated. The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) controls. The results are confirmed that the actual states of joint trajectories of the underwater manipulator asymptotically follow the desired trajectories defined by the reference model even though the system is subjected to external disturbances and parameter uncertainties. Also, stability of the proposed (model reference control) control scheme is analyzed.

scholarly journals Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Mohan Santhakumar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Dynamics And Control ◽  
And Control

This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.

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.

Hybrid Stepper Motor Backstepping Control in Micro-Step Operation

2005 ◽  
Author(s):  
Ali Selk Ghafari ◽  
Aria Alasty
Keyword(s):  
Disturbance Rejection ◽  
Reference Signal ◽  
Backstepping Control ◽  
Control Technique ◽  
Stepper Motor ◽  
Parameter Uncertainties ◽  
Control Approach ◽  
Control Scheme ◽  
Position Controller ◽  
Simulation Results

A nonlinear position controller based on backstepping control technique is proposed for a hybrid stepper motor in micro-step operation. Backstepping control approach is adapted to derive the control scheme, which is robust to parameter uncertainties and external load disturbance. Simulation results clearly show that the proposed controller can track the position reference signal successfully under parameter uncertainties and load torque disturbance rejection.

scholarly journals Backstepping control for a 3DOF model helicopter with input and output constraints

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141668713
Author(s):  
Rong Mei ◽  
Qingliang Cui
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
External Disturbance ◽  
Input Saturation ◽  
Backstepping Control ◽  
Input And Output ◽  
Control Scheme ◽  
Output Constraints ◽  
Modelling Uncertainties ◽  
Model Helicopter

In this article, a backstepping control scheme is developed for the motion control of a Three degrees of freedom (3DOF) model helicopter with unknown external disturbance, modelling uncertainties and input and output constraints. In the developed robust control scheme, augmented state observers are applied to estimate the unknown states, unknown external disturbance and modelling uncertainties. Auxiliary systems are designed to deal with input saturation. A barrier Lyapunov function is employed to handle the output saturation. The stability of closed-loop system is proved by the Lyapunov method. Simulation results show that the designed control scheme is effective at dealing with the motion control of a 3DOF model helicopter in the presence of unknown external disturbance and modelling uncertainties, and input and output saturation.

scholarly journals Noncertainty Equivalent Adaptive Backstepping Control for Advanced Fighter Subject to Unsteady Effects and Input Constraints

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Chijun Zhou ◽  
Changxin Luo ◽  
Jikun Ye ◽  
Jihong Zhu ◽  
Humin Lei
Keyword(s):  
Unsteady Aerodynamics ◽  
Backstepping Control ◽  
Input Constraints ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Adaptive Backstepping Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Backstepping Controller ◽  
Unsteady Effects

This paper presents a noncertainty equivalent adaptive backstepping control scheme for advanced fighter attitude tracking, in which unsteady effects, parameter uncertainties, and input constraints are all considered which increase the design difficulty to a large extent. Based on unsteady attitude dynamics and the noncertainty equivalent principle, a new observer is first developed to reconstruct the immeasurable and time-varying unsteady states. Afterwards, the unsteady aerodynamics is compensated in the backstepping controller where the command filter is introduced to impose physical constraints on actuators. In order to further enhance the robustness, the noncertainty equivalent adaptive approach is again used to estimate the uncertain constant parameters. Moreover, stability of the closed-loop system that includes the state observer, parameter estimator, and backstepping controller is proven by the Lyapunov theorem in a unified architecture. Finally, simulation results show that performance of the deterministic control system can be captured when attractive manifolds are achieved. The effectiveness and robustness of the proposed control scheme are verified by the Herbst maneuver.

ADAPTIVE BACKSTEPPING CONTROL OF A CLASS OF CHAOTIC SYSTEMS

2000 ◽  
Vol 10 (05) ◽  
pp. 1149-1156 ◽  
Author(s):  
S. S. GE ◽  
C. WANG ◽  
T. H. LEE
Keyword(s):  
Chaotic Systems ◽  
Reference Model ◽  
Duffing Oscillator ◽  
Feedback System ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Feedback Form ◽  
Adaptive Backstepping Control ◽  
Control Scheme ◽  
Strict Feedback

This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated Lyapunov functions. Firstly, we show that many chaotic systems as paradigms in the research of chaos can be transformed into a class of nonlinear systems in the so-called nonautonomous "strict-feedback" form. Secondly, an adaptive backstepping control scheme is extended to the nonautonomous "strict-feedback" system, and it is shown that the output of the nonautonomous system can asymptotically track the output of any known, bounded and smooth nonlinear reference model. Finally, the Duffing oscillator with key constant parameters unknown, is used as an example to illustrate the feasibility of the proposed control scheme. Simulation studies are conducted to show the effectiveness of the proposed method.

Adaptive fuzzy backstepping control of underactuated multi-cable parallel suspension system with tension constraint

2021 ◽  
pp. 014233122098594
Author(s):  
Naige Wang ◽  
Guohua Cao
Keyword(s):  
Disturbance Observer ◽  
Reference Model ◽  
Rapid Development ◽  
Backstepping Control ◽  
Suspension System ◽  
Theoretical Modelling ◽  
Parameter Uncertainties ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Fuzzy ◽  
Nonlinear Disturbance

Multi-cable parallel suspension system (MCPSS) is designed to lift a heavy object with rapid development of deep resources exploitation. An adaptive fuzzy backstepping control strategy combining with nonlinear disturbance observer is studied to synthetically control the posture for the underactuated MCPSS with tension constraint in this article. Firstly, a theoretical modelling of the MCPSS with boundary constraints is derived by the extended Hamilton’s Principle. Secondly, the parameter uncertainties and time-varying disturbances are compensated by the fuzzy system and nonlinear disturbance observer, respectively. Thirdly, an adaptive fuzzy backstepping feedback controller based on the reference model is proposed to suppress vibration and control posture of the suspension platform. Finally, an Automatic Dynamic Analysis of Mechanical Systems (ADAMS) simulation and a numerical calculation are used to illustrate the theoretical model and the proposed control performance.

scholarly journals Bidirectional Power Sharing for DC Microgrid Enabled by Dual Active Bridge DC-DC Converter

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 404
Author(s):  
Sara J. Ríos ◽  
Daniel J. Pagano ◽  
Kevin E. Lucas
Keyword(s):  
Power Management ◽  
Distribution Systems ◽  
Control Method ◽  
Dynamic Performance ◽  
Management Control ◽  
Photovoltaic System ◽  
Dc Microgrid ◽  
Dual Active Bridge ◽  
Control Scheme ◽  
Bidirectional Power Flow

Currently, high-performance power conversion requirements are of increasing interest in microgrid applications. In fact, isolated bidirectional dc-dc converters are widely used in modern dc distribution systems. The dual active bridge (DAB) dc-dc converter is identified as one of the most promising converter topology for the mentioned applications, due to its benefits of high power density, electrical isolation, bidirectional power flow, zero-voltage switching, and symmetrical structure. This study presents a power management control scheme in order to ensure the power balance of a dc microgrid in stand-alone operation, where the renewable energy source (RES) and the battery energy storage (BES) unit are interfaced by DAB converters. The power management algorithm, as introduced in this work, selects the proper operation of the RES system and BES system, based on load/generation power and state-of-charge of the battery conditions. Moreover, a nonlinear robust control strategy is proposed when the DAB converters are in voltage-mode-control in order to enhance the dynamic performance and robustness of the common dc-bus voltage, in addition to overcoming the instability problems that are caused by constant power loads and the dynamic interactions of power electronic converters. The simulation platform is developed in MATLAB/Simulink, where a photovoltaic system and battery system are selected as the typical RES and BES, respectively. Assessments on the performance of the proposed control scheme are conducted. Comparisons with the other control method are also provided.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

Experimental and Analytical Investigations of a Low Pressure Model Turbine During Forced Response Excitation

2010 ◽  
Author(s):  
Christoph Heinz ◽  
Markus Schatz ◽  
Michael V. Casey ◽  
Heinrich Stu¨er
Keyword(s):  
Degrees Of Freedom ◽  
Timing Analysis ◽  
Dynamic Performance ◽  
Amplitude Distribution ◽  
Low Pressure ◽  
Forced Response ◽  
Operating Conditions ◽  
Linear Regression Method ◽  
Rotor Shaft ◽  
Aerodynamic Damping

To guarantee a faultless operation of a turbine it is necessary to know the dynamic performance of the machine especially during start-up and shut-down. In this paper the vibration behaviour of a low pressure model steam turbine which has been intentionally mistuned is investigated at the resonance point of an eigenfrequency crossing an engine order. Strain gauge measurements as well as tip timing analysis have been used, whereby a very good agreement is found between the methods. To enhance the interpretation of the data measured, an analytical mass-spring-model, which incorporates degrees of freedom for the blades as well as for the rotor shaft, is presented. The vibration amplitude varies strongly from blade to blade. This is caused by the mistuning parameters and the coupling through the rotor shaft. This circumferential blade amplitude distribution is investigated at different operating conditions. The results show an increasing aerodynamic coupling with increasing fluid density, which becomes visible in a changing circumferential blade amplitude distribution. Furthermore the blade amplitudes rise non-linearly with increasing flow velocity, while the amplitude distribution is almost independent. Additionally, the mechanical and aerodynamic damping parameters are calculated by means of a non-linear regression method. Based on measurements at different density conditions, it is possible to extrapolate the damping parameters down to vacuum conditions, where aerodynamic damping is absent. Hence the material damping parameter can be determined.

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