scholarly journals Generalized ESO and Predictive Control Based Robust Autopilot Design

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Bhavnesh Panchal ◽  
S. E. Talole
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Specific Information ◽  
Disturbance Compensation ◽  
External Disturbances ◽  
Output Tracking ◽  
Control Gain ◽  
Predictive Controller ◽  
Mismatched Uncertainty ◽  
Acceleration Tracking

A novel continuous time predictive control and generalized extended state observer (GESO) based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation.

scholarly journals ANÁLISE EM MALHA FECHADA DO CONTROLADOR GENERALIZED PREDICTIVE CONTROL (GPC)

2009 ◽  
Vol 3 ◽  
pp. 119 ◽  
Author(s):  
Anderson Luiz Cavalcanti
Keyword(s):  
Stability Analysis ◽  
Predictive Control ◽  
Robust Stability ◽  
Closed Loop ◽  
Generalized Predictive Control ◽  
Loop Analysis ◽  
Closed Loop Systems ◽  
Robust Stability Analysis ◽  
Predictive Controller ◽  
Simulation Results

RESUMO O presente trabalho tem o objetivo de apresentar uma análise em malha fechada do controlador Generalized Predictive Control (GPC). Esta análise visa observar, com detalhes, as características deste tipo de controlador. Os detalhes apresentados são de extrema importância na análise de estabilidade robusta. Alguns resultados de simulação são apresentados. PALAVRAS-CHAVE: Controle preditivo, sistemas em malha fechada. CLOSED-LOOP ANALYSIS OF GENERALIZED PREDICTIVE CONTROL (GPC) ABSTRACT This paper presents a closed loop analysys of Generalized Predictive Control GPC. This analysis observes, in details, the features of this kind of predictive controller The details showed are very important in robust stability analysis. Simulation results are shown. KEY-WORDS: Predictive control, closed-loop systems.

scholarly journals MODEL PREDICTIVE CONTROL OF A HYDRAULIC ACTUATOR IN TORQUE APPLYING SYSTEM OF A MECHANICALLY CLOSED-LOOP TEST RIG FOR THE HELICOPTER GEARBOX

Aviation ◽  
2020 ◽  
Vol 23 (4) ◽  
pp. 143-153
Author(s):  
Aida Parvaresh ◽  
Mohsen Mardani
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Operating Conditions ◽  
Hydraulic Actuator ◽  
Test Rig ◽  
Dynamic Matrix ◽  
University Of Technology ◽  
Predictive Controller ◽  
Loop Procedure ◽  
Education Culture

Transmission health is an important factor in safety and maintenance costs in industries, so construction of test rigs for testing high-powered gearboxes under different operating conditions of helicopters is required. The studied test rig, which is developed at Sharif University of Technology branch of ACECR (Academic Centre of Education, Culture and Research) is mainly used for testing high-powered gearboxes through a mechanically closed-loop procedure. For providing a variety of speeds and torques in test rigs, torque applying system is required. According to generation of higher forces, reduced size of equipment and accurate positioning, electro hydraulic actuators (EHAs) are used for applying torques for planetary gearboxes of this test rig. Due to the importance of applying accurate torques in evaluation of the gearbox performance, first an accurate model of EHA is derived, which captures the system dynamics using system identification method with low consumed time and simple relations. After that, a type of model predictive controller called dynamic matrix controller is proposed for controlling EHA under determined requirements. Then, the performance of proposed controller under normal conditions as well as in presence of disturbance is investigated. The results show a good tracking of controller for various reference inputs in different conditions. Moreover, the performance of the proposed controller is compared with the performance of classical proportional-integral-derivative (PID) controller and superior characteristics of the proposed controller is concluded.

Fuzzy Adaptive Output Tracking Controller for a Class of Chaotic Systems

2012 ◽  
Vol 488-489 ◽  
pp. 1793-1797
Author(s):  
R. Ghasemi ◽  
M.B. Menhaj ◽  
B. Abdi
Keyword(s):  
Chaotic Systems ◽  
Closed Loop ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
External Disturbances ◽  
Output Tracking ◽  
Fuzzy Adaptive Controller ◽  
Simulation Results ◽  
The Stability ◽  
Fuzzy Adaptive

This paper proposes a new method for designing a fuzzy adaptive controller for a class of non-affine nonlinear chaotic systems in which functions of the systems are unknown. The proposed method is aimed on a class of non-canonical non-affine nonlinear chaotic systems. The stability of the closed loop system is guaranteed based on Lyapunov’s theory. The proposed controller is robust against uncertainties and external disturbances. The simulation results show the effectiveness of the proposed method.

A New Adaptive Generalized Predictive Control Algorithm for Nonlinear Processes

2010 ◽  
Author(s):  
Ma’moun Abu-Ayyad ◽  
Rickey Dubay ◽  
Bambang Pramujati
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Control Strategies ◽  
Temperature Control System ◽  
Generalized Predictive Control ◽  
Steel Cylinder ◽  
Unique Method ◽  
Predictive Controller ◽  
Process Prediction ◽  
Sampling Instant

This paper presents a unique method for improving the performance of the generalized predictive control (GPC) algorithm for controlling nonlinear systems. This method is termed adaptive generalized predictive control which uses a multi-dimensional surface of the nonlinear plant to recalculate the controller parameters every sampling instant. This results in a more accurate process prediction and improved closed-loop performance over the original GPC algorithm. The adaptive generalized predictive controller was tested in simulation and its control performance compared to GPC on several nonlinear plants with different degrees of nonlinearity. Practical testing and comparisons were performed on a steel cylinder temperature control system. Simulation and experimental results both demonstrate that the adaptive generalized predictive controller demonstrated improved closed-loop performance. The formulation of the nonlinear surface provides the mechanism for the adaptive approach to be readily applied to other advanced control strategies making the methodology generic.

Uniformly ultimately bounded tracking control of sandwich systems with nonsymmetric sandwiched dead-zone nonlinearity and input saturation constraint

2021 ◽  
pp. 107754632098794
Author(s):  
Meysam Azhdari ◽  
Tahereh Binazadeh
Keyword(s):  
Dead Zone ◽  
Input Saturation ◽  
Closed Loop System ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Uniformly Ultimately Bounded ◽  
Output Tracking ◽  
Saturation Constraint ◽  
Two Phases ◽  
Practical Constraints

This article studies the uniformly ultimately bounded output tracking problem of uncertain nonlinear sandwich systems with sandwiched dead-zone nonlinearity in the presence of some practical constraints such as nonsymmetric input saturation, model uncertainties, time-varying external disturbances, and unknown parameters. Due to the existence of both dead-zone and saturation nonlinearities, the design process is more complicated; therefore, to solve the design complexities, the designing process is divided into two phases. The proposed method leads to output tracking with acceptable accuracy. Moreover, all signals in the closed-loop system are ultimately bounded. Simulation results illustrate the applicability and effectiveness of the proposed method by its application on two practical sandwich systems (robotic system and electrohydraulic servo press system).

scholarly journals Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

2021 ◽  
Author(s):  
Hang Su ◽  
Junhao Zhang ◽  
Ziyu She ◽  
Xin Zhang ◽  
Ke Fan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
Robot Assisted ◽  
External Disturbances ◽  
Fuzzy Approximation ◽  
Control Framework ◽  
Motion Constraint

AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

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