scholarly journals Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Yi-Hsiang Tseng ◽  
Chung-Cheng Chen ◽  
Chung-Huo Lin ◽  
Yuh-Shyan Hwang
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Diving Behavior ◽  
Practical Applications ◽  
Unmanned Underwater Vehicle ◽  
Almost Disturbance Decoupling ◽  
Disturbance Decoupling ◽  
Feedback Linearization Approach ◽  
Tracking Trajectory

The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

A Robust Control Design Approach Combining Exact Linearization and High-Gain PI-Observer

2007 ◽  
Author(s):  
Yan Liu ◽  
Dirk So¨ffker
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
High Gain ◽  
Observer Design ◽  
Input State ◽  
Exact Linearization ◽  
Practical Applications ◽  
Robust Control Design ◽  
Nonlinear Control Method ◽  
Feedback Linearization Approach

This paper introduces a robust nonlinear control method combining classical feedback linearization and a high-gain PI-Observer (Proportional-Integral Observer) approach that can be applied to control a nonlinear single-input system with uncertainties or unknown effects. It is known that the lack of robustness of the feedback linearization approach limits its practical applications. The presented approach improves the robustness properties and extends the application area of the feedback linearization control. The approach is developed analytically and fully illustrated. An example which uses input-state linearization and PI-Observer design is given to illustrate the idea and to demonstrate the advantages.

scholarly journals Controller Design of Multiinput Multioutput Time-Delay Large-Scale System

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Chia-Wei Lin ◽  
Tzuu-Hseng S. Li ◽  
Chung-Cheng Chen
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
Large Scale ◽  
Stability Characteristic ◽  
Test Bed ◽  
Pendulum System ◽  
Large Scale Systems ◽  
Almost Disturbance Decoupling ◽  
Inverted Pendulum System ◽  
Disturbance Decoupling

The paper presents a novel feedback linearization controller of nonlinear multiinput multioutput time-delay large-scale systems to obtain both the tracking and almost disturbance decoupling (ADD) performances. The significant contribution of this paper is to build up a control law such that the overall closed-loop system is stable for given initial condition and bounded tracking trajectory with the input-to-state-stability characteristic and almost disturbance decoupling performance. We have simulated the two-inverted-pendulum system coupled by a spring for networked control systems which has been used as a test bed for the study of decentralized control of large-scale systems.

Adaptive Attitude Controller Design for a Rigid Satellite with Feedback Linearization Approach

2020 ◽  
Vol 67 (4) ◽  
pp. 1445-1469
Author(s):  
Akram Adnane ◽  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed ◽  
Jiang Hong ◽  
Zoubir Ahmed Foitih
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Attitude Controller ◽  
Feedback Linearization Approach

Identification of the equivalent linear dynamics and controller design for an unmanned underwater vehicle

2017 ◽  
Vol 139 ◽  
pp. 152-168 ◽  
Author(s):  
Afshin Banazadeh ◽  
Mohammad Saeed Seif ◽  
Mohammad Javad Khodaei ◽  
Milad Rezaie
Keyword(s):  
Controller Design ◽  
Underwater Vehicle ◽  
Linear Dynamics ◽  
Unmanned Underwater Vehicle ◽  
Equivalent Linear

Feedback linearization and feedforward neural network control with application to twin rotor mechanism

2016 ◽  
Vol 40 (2) ◽  
pp. 351-362 ◽  
Author(s):  
Chia-Wei Lin ◽  
Tzuu-Hseng S Li ◽  
Chung-Cheng Chen
Keyword(s):  
Neural Network ◽  
Feedback Linearization ◽  
Controller Design ◽  
Coupling Effect ◽  
Network Control ◽  
Feedforward Neural Network ◽  
Neural Network Control ◽  
Almost Disturbance Decoupling ◽  
Neural Network Controller ◽  
Twin Rotor

A twin rotor multi-input multi-output system (TRMMS) is a high-order nonlinear system with a significant cross-coupling effect. The control of TRMMSs is considered a markedly challenging topic in the field of robust control. This study proposes a novel feedback linearization and feedforward neural network controller design for a TRMMS with almost disturbance decoupling (ADD) capabilities. The proposed composite controller achieves exponentially global stability and ADD performance without applying any traditional parallel learning algorithms. This study proposes an organization of the feedforward neural network and the weights among the layers to guarantee the stability of the overall system. A number of nonlinear systems, which are too complex to be solved by general ADD studies, are proposed in this study to demonstrate that the proposed methodology can effectively achieve the tracking and ADD performances through Matlab. Moreover, an efficient algorithm is proposed for designing the feedback linearization and feedforward neural network control with ADD and tracking capabilities.

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