Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law

AbstractThis paper deals with the Constrained Regulation Problem (CRP) for linear continuous-times fractional-order systems. The aim is to find the existence conditions of linear feedback control law for CRP of fractional-order systems and to provide numerical solving method by means of positively invariant sets. Under two different types of the initial state constraints, the algebraic condition guaranteeing the existence of linear feedback control law for CRP is obtained. Necessary and sufficient conditions for the polyhedral set to be a positive invariant set of linear fractional-order systems are presented, an optimization model and corresponding algorithm for solving linear state feedback control law are proposed based on the positive invariance of polyhedral sets. The proposed model and algorithm transform the fractional-order CRP problem into a linear programming problem which can readily solved from the computational point of view. Numerical examples illustrate the proposed results and show the effectiveness of our approach.

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Active Compressor Surge Control Using Piston Actuation

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1 ◽

10.1115/dscc2011-6113 ◽

2011 ◽

Cited By ~ 9

Author(s):

Nur Uddin ◽

Jan Tommy Gravdahl

Keyword(s):

Feedback Control ◽

Closed Loop ◽

Linear Feedback ◽

Control Law ◽

Asymptotically Stable ◽

Nonlinear Feedback Control ◽

Nonlinear Feedback ◽

Closed Loop System ◽

Linear Feedback Control ◽

Surge Control

A novel approach to active surge control in compressors using piston actuation is presented. Two control laws are compared in order to evaluate the feasibility of implementing the concept. The first control law is a nonlinear feedback control derived by using backstepping and the second one is a linear feedback control derived by analyzing the eigenvalues of the linearized system around the operating point. The nonlinear feedback control law makes the closed loop system globally asymptotically stable (GAS) and uses full states feedback. The linear feedback control is only using feedback from plenum pressure and piston velocity and the removal of the mass flow feedback is advantageous for implementation. The closed loop system with the linear feedback control is locally asymptotically stable around the operating point. Simulations show that both controllers are capable of stabilizing surge.

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Differential drive mobile robot control using variable fuzzy universe of discourse

2017 International Conference on Electrical Engineering and Computer Science (ICECOS) ◽

10.1109/icecos.2017.8167165 ◽

2017 ◽

Author(s):

Siti Nurmaini ◽

Chusniah

Keyword(s):

Mobile Robot ◽

Robot Control ◽

Differential Drive ◽

Mobile Robot Control ◽

Universe Of Discourse

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Linear Feedback Control of Position and Contact Force for a Nonlinear Constrained Mechanism

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2896189 ◽

1990 ◽

Vol 112 (4) ◽

pp. 640-645 ◽

Cited By ~ 31

Author(s):

H. McClamroch ◽

D. Wang

Keyword(s):

Feedback Control ◽

Closed Loop ◽

Control Design ◽

Algebraic Model ◽

Differential Algebraic Equations ◽

Linear Feedback ◽

Control Law ◽

Algebraic Equations ◽

Constraint Force ◽

Constrained System

A feedback control problem for a constrained mechanism is formulated and solved. The mechanism is controlled by forces applied to the mechanism which are to be adjusted according to a linear control law, based on feedback of the positions and velocities of the mechanism and feedback of the constraint force on the mechanism. The control objective is to achieve accurate and robust local regulation of the motion of the mechanism and of the constraint force on the mechanism. Derivation of a suitable control law is significantly complicated by the nonclassical nature of the differential-algebraic model of the constrained system and by the nonlinear characteristics of the model. The control design approach involves use of a certain nonlinear transformation which leads to a set of decoupled differential-algebraic equations; classical control design methodology can be applied to these latter equations. An example of a planar mechanism is studied in some detail, for two different regulation objectives. Specific control laws are developed using the described methodology. Comparisons are made with a closed loop system, where the control law is derived without proper consideration of the constraint force. Computer simulations are presented to demonstrate the several closed-loop properties.

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Optimal Linear and Nonlinear Control Design for Chaotic Systems

Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C ◽

10.1115/detc2005-84998 ◽

2005 ◽

Cited By ~ 6

Author(s):

Marat Rafikov ◽

Jose´ Manoel Balthazar

Keyword(s):

Feedback Control ◽

Nonlinear Control ◽

Chaotic Systems ◽

Duffing Oscillator ◽

Sufficient Conditions ◽

Control Design ◽

Linear Feedback ◽

Nonlinear Feedback ◽

Linear Feedback Control ◽

Linear And Nonlinear

In this work, the linear and nonlinear feedback control techniques for chaotic systems were been considered. The optimal nonlinear control design problem has been resolved by using Dynamic Programming that reduced this problem to a solution of the Hamilton-Jacobi-Bellman equation. In present work the linear feedback control problem has been reformulated under optimal control theory viewpoint. The formulated Theorem expresses explicitly the form of minimized functional and gives the sufficient conditions that allow using the linear feedback control for nonlinear system. The numerical simulations for the Ro¨ssler system and the Duffing oscillator are provided to show the effectiveness of this method.

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