The error-based minimal control synthesis algorithm with integral action

2003 ◽  
Vol 217 (3) ◽  
pp. 187-201 ◽  
Author(s):  
D P Stoten ◽  
S A Neild
Keyword(s):  
Closed Loop ◽  
Control Synthesis ◽  
Closed Loop System ◽  
Synthesis Algorithm ◽  
The Core ◽  
Gain Term ◽  
Integral Action ◽  
Implementation Studies ◽  
Hyperstability Theory ◽  
Integral Gain

This paper presents a new form of the direct adaptive minimal control synthesis (MCS) algorithm. As its name suggests, the error-based minimal control synthesis with integral action (Er-MCSI) algorithm is solely driven by error signals that are generated within the closed-loop system, and contains an explicit integral gain term. The purpose of this new structure is, respectively, to remove the problem of variable adaptive effort with changes in the operating set point, and to remove gain ‘wind-up’ effects due to plant disturbances and signal offsets. The core of this paper contains a proof of stability for Er-MCSI, based on hyperstability theory, together with supporting simulation and implementation studies.

The Implementation of the Minimal Control Synthesis Algorithm on a Web Control Problem

1994 ◽  
Vol 208 (1) ◽  
pp. 53-60 ◽  
Author(s):  
D P Stoten ◽  
M G Dye ◽  
M Webb
Keyword(s):  
Closed Loop ◽  
Control Synthesis ◽  
Time Varying ◽  
Closed Loop System ◽  
Synthesis Algorithm ◽  
Time Varying Parameters ◽  
Transport Control ◽  
Adaptive Control Strategy ◽  
Web Control ◽  
Experimental Comparisons

The minimal control synthesis (MCS) algorithm is an adaptive control strategy that requires no prior knowledge of plant dynamic parameters, and yet is guaranteed to provide global asymptotic stability of the closed-loop system. The purpose of this paper is to present MCS as applied to web tension und transport control a class of plant that has highly non-linear dynamics and time-varying parameters. The plant is difficult to control by conventional methods over its full operating range. A typical example and model of such a plant is presented along with the implementation of MCS. Experimental comparisons of MCS with conventional control benchmarks are provided. It will be seen that MCS significantly outperforms the conventional controller.

scholarly journals An Overshoot-Constrained Fast Setpoint Control for Nanopositioning Systems with Switched Controllers

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Zhizheng Wu ◽  
Tengfei Yue ◽  
Xinxiang Jiang ◽  
Ning Cao ◽  
Feng Li ◽  
...  
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Control Method ◽  
Near Field ◽  
Experimental System ◽  
Matrix Inequalities ◽  
Closed Loop System ◽  
Synthesis Algorithm ◽  
Key Technology ◽  
Near Field Optics

Nanopositioning control as the key technology has been applied in many fields such as near-field optics, biomedical engineering, and nanomanipulation, where it is required to possess high positioning accuracy, reliability, and speed. In this paper, a switched PID controller-based fast setpoint control method is proposed for nanopositioning systems. In order to improve the setpoint speed of the nanopositioning system without a large overshoot, a switched controller consisting of the approach mode and smooth mode is synthesized. The overshoot constraint of the resulting switched closed-loop system is investigated within a set of bilinear matrix inequalities, based on which the search of the controller parameters can be further processed by solving the properly formulated synthesis algorithm. The proposed control method is evaluated in a nanopositioning experimental system driven by a PZT actuator, and the experimental results demonstrate the effectiveness of the switched PID controller for the fast setpoint approaching operation.

Nonlinear H∞-Output Regulation of a Nonminimum Phase Servomechanism With Backlash

2006 ◽  
Vol 129 (4) ◽  
pp. 544-549 ◽  
Author(s):  
L. T. Aguilar ◽  
Y. Orlov ◽  
J. C. Cadiou ◽  
R. Merzouki
Keyword(s):  
Experimental Study ◽  
System Performance ◽  
Closed Loop ◽  
Output Regulation ◽  
Feedback Controller ◽  
Control Synthesis ◽  
Closed Loop System ◽  
External Disturbances ◽  
Nonminimum Phase ◽  
Output Regulation Problem

Nonlinear H∞ control synthesis is extended to an output regulation problem for a servomechanism with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. Provided the servomotor position is the only measurement available for feedback, the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the nonlinear H∞-output regulator constructed are illustrated in an experimental study.

New Results on PID Stabilization of Integral Process with Time Delay

2015 ◽  
Vol 775 ◽  
pp. 339-346
Author(s):  
Yu Dong
Keyword(s):  
Time Delay ◽  
Pid Controller ◽  
Imaginary Axis ◽  
Stability Region ◽  
Closed Loop ◽  
Closed Loop System ◽  
Double Pole ◽  
Integral Process ◽  
The Stability ◽  
Integral Gain

This paper considers the problem of stabilizing an integral process with time delay by a PID controller. As the proportional gain reaches the extreme value, the closed-loop system contains a double pole on the non-negative imaginary axis. Using this property, the admissible range of the proportional gain is derived, also the corresponding integral gain and derivative gain are obtained. For a fixed value of the proportional gain, the stability region in the plane of the integral and derivative gains is determined analytically. Moreover, the admissible ranges of the integral and derivative gains are computed and found to be non-convex. A numerical example illustrates the method presented.

scholarly journals Metaheuristic Optimization of PD and PID Controllers for Robotic Manipulators

2021 ◽  
Vol 54 (6) ◽  
pp. 835-845
Author(s):  
Nadia Bounouara ◽  
Mouna Ghanai ◽  
Kheireddine Chafaa
Keyword(s):  
Closed Loop ◽  
Particle Swarm Optimization Algorithm ◽  
Robotic Manipulators ◽  
Pso Algorithm ◽  
Pid Controllers ◽  
Optimal Parameters ◽  
Proportional Integral Derivative ◽  
Closed Loop System ◽  
Uniformly Bounded ◽  
Integral Gain

In this paper, the Particle Swarm Optimization algorithm (PSO) is combined with Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) to design more efficient PD and PID controllers for robotic manipulators. PSO is used to optimize the controller parameters Kp (proportional gain), Ki (integral gain) and Kd (derivative gain) to achieve better performances. The proposed algorithm is performed in two steps: (1) First, PD and PID parameters are offline optimized by the PSO algorithm. (2) Second, the obtained optimal parameters are fed in the online control loop. Stability of the proposed scheme is established using Lyapunov stability theorem, where we guarantee the global stability of the resulting closed-loop system, in the sense that all signals involved are uniformly bounded. Computer simulations of a two-link robotic manipulator have been performed to study the efficiency of the proposed method. Simulations and comparisons with genetic algorithms show that the results are very encouraging and achieve good performances.

Implementation of Minimal Control Synthesis on a Servo-Hydraulic Testing Machine

1992 ◽  
Vol 206 (3) ◽  
pp. 189-194 ◽  
Author(s):  
D P Stoten
Keyword(s):  
Asymptotic Stability ◽  
Prior Knowledge ◽  
Closed Loop ◽  
Testing Machine ◽  
Adaptive Controller ◽  
Hydraulic Testing ◽  
Technical Note ◽  
Control Synthesis ◽  
Dynamic Parameters ◽  
Closed Loop System

The minimal control synthesis (MCS) algorithm is an adaptive controller that requires no prior knowledge of plant dynamic parameters, and yet is guaranteed to provide global asymptotic stability of the closed-loop system. The algorithm has been implemented on a variety of plant, ranging from laboratory-based rigs to industrial machines. The purpose of this technical note is to present the results of the first known implementation of the algorithm on a servo-hydraulically actuated machine. The results of the MCS implementation will be seen to compare very favourably with those of a conventional (P + I) implementation.

Dissipative Control of Singular Systems by Proportional Plus Derivative State Feedback

2012 ◽  
Vol 246-247 ◽  
pp. 826-831
Author(s):  
Shuang Yun Xing ◽  
Xin Jing ◽  
Yang Cao
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Singular Systems ◽  
Uncertain System ◽  
Loop System ◽  
Descriptor Systems ◽  
Control Synthesis ◽  
Closed Loop System ◽  
Dissipative Control ◽  
Derivative Matrix

This article deals with the problem of dissipative control synthesis for a class of descriptor systems with uncertainties in the derivative matrix. Attention is focused on the design of a proportional plus derivative (PD) state feedback, which guarantees that the closed-loop system is robustly stable and strict dissipative. Firstly, a sufficient condition for the closed-loop system is robustly stable and strict dissipative is presented by using a simple idea of changing the problem to the corresponding problem of an augmented uncertain system. Then, a PD controller is constructed by solving LMIs. Finally, a numerical example is given to demonstrate that the proposed method is effective.

Sliding Mode Path Tracking Control for Spraying Mobile Robots Based on Weighed Integral Gain Reaching Law

2013 ◽  
Vol 313-314 ◽  
pp. 932-936 ◽  
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Hai Yan Zhou
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Control Method ◽  
Sliding Mode ◽  
Path Tracking ◽  
Closed Loop System ◽  
Reaching Law ◽  
Control Precision ◽  
Weighted Integral ◽  
Integral Gain

For the spraying mobile robot, in order to solve the bad effect of the complex unstructured environment of intensive planting, ground obstacles and spatial disorders coexisting on the path tracking control precision, a sliding mode control method is proposed based on weighted integral gain reaching law to reduce chattering and to improve tracking performance of the system. Moreover, the asymptotical stability of the closed loop system is proved using Lyapunov function. Finally simulation results illustrate the validity and feasibility of the proposed control method.

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