scholarly journals A tracking error–based fully probabilistic control for stochastic discrete-time systems with multiplicative noise

2020 ◽  
Vol 26 (23-24) ◽  
pp. 2329-2339
Author(s):  
Randa Herzallah ◽  
Yuyang Zhou
Keyword(s):  
Error Control ◽  
Multiplicative Noise ◽  
Stochastic Systems ◽  
Design Method ◽  
Tracking Error ◽  
Flexible Beam ◽  
System Control ◽  
Probabilistic Design ◽  
Leibler Divergence ◽  
Tracking Error Control

This article proposes the exploitation of the Kullback–Leibler divergence to characterise the uncertainty of the tracking error for general stochastic systems without constraints of certain distributions. The general solution to the fully probabilistic design of the tracking error control problem is first stated. Further development then focuses on the derivation of a randomised controller for a class of linear stochastic Gaussian systems that are affected by multiplicative noise. The derived control solution takes the multiplicative noise of the controlled system into consideration in the derivation of the randomised controller. The proposed fully probabilistic design of the tracking error of the system dynamics is a more legitimate approach than the conventional fully probabilistic design method. It directly characterises the main objective of system control. The efficiency of the proposed method is then demonstrated on a flexible beam example where the vibration quenching in flexible beams is shown to be effectively suppressed.

scholarly journals MASALAH GALAT PENJEJAKAN MINIMUM PADA SISTEM PENDULUM TERBALIK

2010 ◽  
Vol 9 (1) ◽  
pp. 15
Author(s):  
T. BAKHTIAR
Keyword(s):  
Error Control ◽  
Inverted Pendulum ◽  
Tracking Error ◽  
Closed Form Expression ◽  
Form Expression ◽  
Minimum Error ◽  
Optimal Tracking ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Tracking Error Control

This paper studies the optimal tracking error control problem on an inverted pendulum model. We characterize the optimal tracking error in term of pendulum’s parameters. Particularly, we derive the closed form expression for the pendulum length which gives minimum error. It is shown that the minimum error can always be accomplished as long as the ratio between the mass of the pendulum and that of the cart satisfies a certain constancy, regardless the type of material we use for the pendulum.

scholarly journals H∞Control for Nonlinear Stochastic Systems with Time-Delay and Multiplicative Noise

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
Ming Gao ◽  
Weihai Zhang ◽  
Zhengmao Zhu
Keyword(s):  
Time Delay ◽  
General Class ◽  
Multiplicative Noise ◽  
Stochastic Systems ◽  
Design Method ◽  
Infinite Horizon ◽  
Control Design ◽  
Mean Square ◽  
Nonlinear Stochastic Systems ◽  
Numerical Examples

This paper studies the infinite horizonH∞control problem for a general class of nonlinear stochastic systems with time-delay and multiplicative noise. The exponential/asymptotic mean squareH∞control design of delayed nonlinear stochastic systems is presented by solving Hamilton-Jacobi inequalities. Two numerical examples are provided to show the effectiveness of the proposed design method.

Minimum Tracking Error Control of Flexible Ball Screw Drives Using a Discrete-Time Sliding Mode Controller

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
Chinedum Okwudire ◽  
Yusuf Altintas
Keyword(s):  
Discrete Time ◽  
Error Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Open Loop ◽  
Ball Screw ◽  
Sliding Mode Controller ◽  
Tracking Accuracy ◽  
Ball Screw Drives ◽  
Tracking Error Control

This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters.

A fast tracking error control method for an autonomous mobile robot

Robotica ◽  
1993 ◽  
Vol 11 (3) ◽  
pp. 209-215 ◽  
Author(s):  
S.S. Lee ◽  
J.H. Williams
Keyword(s):  
Mobile Robot ◽  
Error Control ◽  
Control Method ◽  
Tracking Error ◽  
Kinematic Model ◽  
Practical Applications ◽  
Fast Tracking ◽  
Current State ◽  
Experimental Vehicle ◽  
Tracking Error Control

SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

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