scholarly journals Robust Simultaneous Stabilization Control Method for Two Port-Controlled Hamiltonian Systems: Controller Parameterization

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Zhong Cao ◽  
Xiaorong Hou
Keyword(s):  
Structural Properties ◽  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
Control Method ◽  
Simultaneous Stabilization ◽  
Robust Controller ◽  
External Disturbances ◽  
Stabilization Control ◽  
Pch System ◽  
Controller Parameterization

This paper investigates robust simultaneous stabilization (RSS) control method for two port-controlled Hamiltonian (PCH) systems and proposes results on the design of simultaneous stabilization controller with parameters for such systems. Firstly, two PCH systems are studied. Using the dissipative Hamiltonian structural properties, the systems are combined to generate an augmented PCH system. When there are external disturbances in the systems, a robust controller with parameters is designed for the systems. Secondly, an algorithm for solving parameters of the controller is proposed with symbolic computation. Finally, an illustrative example is presented to show that the RSS controller obtained in this paper works very well.

scholarly journals Adaptive robust simultaneous stabilization controller with tuning parameters design for two dissipative Hamiltonian systems

2017 ◽  
Vol 27 (4) ◽  
pp. 505-525
Author(s):  
Zhong Cao ◽  
Xiaorong Hou ◽  
Wenjing Zhao
Keyword(s):  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
Control Design ◽  
Design Approach ◽  
Parametric Uncertainties ◽  
Simultaneous Stabilization ◽  
External Disturbances ◽  
Tuning Parameters ◽  
Parameterization Method ◽  
Controller Parameterization

AbstractThis paper investigates the problem of adaptive robust simultaneous stabilization (ARSS) of two dissipative Hamiltonian systems (DHSs), and proposes a number of results on the controller parameterization design. Firstly, an adaptiveH∞control design approach is presented by using the dissipative Hamiltonian structural for the case that there are both external disturbances and parametric uncertainties in two DHSs. Secondly, an algorithm for solving tuning parameters of the controller is proposed using symbolic computation. The proposed controller parameterization method avoids solving Hamilton-Jacobi-Issacs (HJI) equations and the obtained controller is easier as compared to some existing ones. Finally, an illustrative example is presented to show that the ARSS controller obtained in this paper works very well.

scholarly journals A Symbolic Computation Approach to Parameterizing Controller for Polynomial Hamiltonian Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Zhong Cao ◽  
Xiaorong Hou
Keyword(s):  
Nonlinear Systems ◽  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
External Disturbance ◽  
Disturbance Attenuation ◽  
Internal Stability ◽  
Parameterization Method ◽  
Numerical Example ◽  
Isaacs Equations ◽  
Controller Parameterization

This paper considers controller parameterization method ofH∞control for polynomial Hamiltonian systems (PHSs), which involves internal stability and external disturbance attenuation. The aims of this paper are to design a controller with parameters to insure that the systems areH∞stable and propose an algorithm for solving parameters of the controller with symbolic computation. The proposed parameterization method avoids solving Hamilton-Jacobi-Isaacs equations, and thus the obtained controllers with parameters are relatively simple in form and easy in operation. Simulation with a numerical example shows that the controller is effective as it can optimizeH∞control by adjusting parameters. All these results are expected to be of use in the study ofH∞control for nonlinear systems with perturbations.

scholarly journals T-S Fuzzy Control of Uncertain Fractional-Order Systems with Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Yilin Hao ◽  
Xiulan Zhang
Keyword(s):  
Time Delay ◽  
Fractional Order ◽  
Control Method ◽  
Fuzzy Model ◽  
Linear Structure ◽  
Adaptive Method ◽  
Delay Systems ◽  
Robust Controller ◽  
External Disturbances ◽  
Fuzzy Adaptive

In this article, the adaptive control of uncertain fractional-order time-delay systems (FOTDSs) with external disturbances is discussed. A Takagi-Sugenu (T-S) fuzzy model with if-then rules is adopted to characterize the dynamic equation of the FOTDS. Besides, a fuzzy adaptive method is proposed to stabilize the model. By utilizing the Lyapunov functions, a robust controller is constructed to stabilize the FOTDS. Due to the uncertainty of system parameters, some fractional-order adaptation laws are designed to update these parameters. At the same time, some if-then rules with linear structure based on the fuzzy T-S adaption concept are established. The designed method not only guarantees that the state of closed-loop system asymptotically converges to origin but also keeps the signal in the FOTDS bounded. Finally, the applicability of the control method is proved by simulation examples.

The Adaptive Robust Control of Deep-Sea Hydraulic Manipulator With Velocity Observer

2015 ◽  
Author(s):  
Xiaoxu Cao ◽  
Gaosheng Luo ◽  
Linyi Gu ◽  
Yaoyao Wang ◽  
Yihong Xu
Keyword(s):  
Robust Control ◽  
Deep Sea ◽  
Control Method ◽  
Adaptive Robust Control ◽  
Velocity Estimation ◽  
Robust Controller ◽  
External Disturbances ◽  
Hydraulic Manipulator ◽  
Velocity Observer ◽  
Interactive Dynamic

In this paper, the adaptive robust control method with a velocity observer is proposed to control a deep-sea manipulator. The parametric uncertainties and external disturbances make the linear controller invalid, and hydraulic actuator’s dynamics can’t be neglected because hydraulic system’s complex nonlinearity might lead to vibration. To solve the problem, an adaptive robust controller which can also compensate the interactive dynamic effects between manipulator links is developed. The deep-sea manipulators are only installed with angular sensors, so an observer providing the smooth angular velocity estimation is designed. By using the Lyapunov approach, the proposed controller can be proved asymptotically stable for trajectory tracking. The contrast experiments are conducted on a deep-sea hydraulic manipulator, experiment results show the control algorithm could provide a fast, high accuracy tracking, and guarantee the tracking performance when subjected to payload change or a range of different reference signals.

scholarly journals Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Wei Lin ◽  
Hao Liu
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Load Capacity ◽  
Hierarchical Control ◽  
Tracking Errors ◽  
Robust Controller ◽  
External Disturbances ◽  
Loop Control ◽  
Control Scheme ◽  
Robust Controller Design

Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable. However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design. In this paper, a robust two-loop control scheme is proposed for a hexarotor system. The resulted controller consists of a nominal controller and a robust compensator. The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances. It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators. Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

2013 ◽  
Vol 694-697 ◽  
pp. 1652-1655
Author(s):  
Ji Yan Wang
Keyword(s):  
Dynamic Characteristics ◽  
Upper Bound ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Pd Controller ◽  
Robust Controller ◽  
Convergence And Stability ◽  
Comparison And Analysis ◽  
Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

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