A COMPARISON OF A LINEAR AND NON-LINEAR CONTROL LAW

1993 ◽  
pp. 29-34
Keyword(s):  
Linear Control ◽  
Control Law ◽  
Non Linear

Non-linear control design for a boost converter using bond graphs

2002 ◽  
Vol 216 (1) ◽  
pp. 1-11 ◽  
Author(s):  
X Lin-Shi ◽  
J-M Retif ◽  
B Allard ◽  
H Morel
Keyword(s):  
Current Mode ◽  
Bond Graph ◽  
Boost Converter ◽  
Linear Control ◽  
Control Law ◽  
Model Errors ◽  
Real Time Control ◽  
Power Semiconductor ◽  
Non Linear ◽  
Averaged Model

The bond graph technique is applied to model a boost converter in order to derive an averaged model. The obtained averaged model is non-ideal as it takes into account most of the converter non-linearities introduced by power semiconductor devices. An ideal averaged model of the converter can be deduced easily for computing a non-linear control law in a real-time control context. The current-mode control of the boost converter is considered. The zero dynamics are studied by both classical theory and the bond graph approach. A modified version of a conventional nonlinear control law is proposed in order to improve the dynamic behaviour and to reduce the sensitivity to control model errors. The non-ideal averaged model is used firstly for simulation analyses of the proposed control law and then for comparison with experimental results.

scholarly journals Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

2021 ◽  
Vol 67 (9) ◽  
pp. 401-410
Author(s):  
Khurram Ali ◽  
Adeel Mehmood ◽  
Israr Muhammad ◽  
Sohail Razzaq ◽  
Jamshed Iqbal
Keyword(s):  
Sliding Mode ◽  
Friction Model ◽  
Linear Control ◽  
Superior Performance ◽  
Linear Control Systems ◽  
Friction Compensation ◽  
Control Law ◽  
Peak Time ◽  
Sliding Surface ◽  
Non Linear

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic rducational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

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