scholarly journals Adaptive robust simultaneous stabilization controller with tuning parameters design for two dissipative Hamiltonian systems

2017 ◽  
Vol 27 (4) ◽  
pp. 505-525
Author(s):  
Zhong Cao ◽  
Xiaorong Hou ◽  
Wenjing Zhao
Keyword(s):  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
Control Design ◽  
Design Approach ◽  
Parametric Uncertainties ◽  
Simultaneous Stabilization ◽  
External Disturbances ◽  
Tuning Parameters ◽  
Parameterization Method ◽  
Controller Parameterization

AbstractThis paper investigates the problem of adaptive robust simultaneous stabilization (ARSS) of two dissipative Hamiltonian systems (DHSs), and proposes a number of results on the controller parameterization design. Firstly, an adaptiveH∞control design approach is presented by using the dissipative Hamiltonian structural for the case that there are both external disturbances and parametric uncertainties in two DHSs. Secondly, an algorithm for solving tuning parameters of the controller is proposed using symbolic computation. The proposed controller parameterization method avoids solving Hamilton-Jacobi-Issacs (HJI) equations and the obtained controller is easier as compared to some existing ones. Finally, an illustrative example is presented to show that the ARSS controller obtained in this paper works very well.

scholarly journals Robust Simultaneous Stabilization Control Method for Two Port-Controlled Hamiltonian Systems: Controller Parameterization

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Zhong Cao ◽  
Xiaorong Hou
Keyword(s):  
Structural Properties ◽  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
Control Method ◽  
Simultaneous Stabilization ◽  
Robust Controller ◽  
External Disturbances ◽  
Stabilization Control ◽  
Pch System ◽  
Controller Parameterization

This paper investigates robust simultaneous stabilization (RSS) control method for two port-controlled Hamiltonian (PCH) systems and proposes results on the design of simultaneous stabilization controller with parameters for such systems. Firstly, two PCH systems are studied. Using the dissipative Hamiltonian structural properties, the systems are combined to generate an augmented PCH system. When there are external disturbances in the systems, a robust controller with parameters is designed for the systems. Secondly, an algorithm for solving parameters of the controller is proposed with symbolic computation. Finally, an illustrative example is presented to show that the RSS controller obtained in this paper works very well.

scholarly journals A Symbolic Computation Approach to Parameterizing Controller for Polynomial Hamiltonian Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Zhong Cao ◽  
Xiaorong Hou
Keyword(s):  
Nonlinear Systems ◽  
Hamiltonian Systems ◽  
Symbolic Computation ◽  
External Disturbance ◽  
Disturbance Attenuation ◽  
Internal Stability ◽  
Parameterization Method ◽  
Numerical Example ◽  
Isaacs Equations ◽  
Controller Parameterization

This paper considers controller parameterization method ofH∞control for polynomial Hamiltonian systems (PHSs), which involves internal stability and external disturbance attenuation. The aims of this paper are to design a controller with parameters to insure that the systems areH∞stable and propose an algorithm for solving parameters of the controller with symbolic computation. The proposed parameterization method avoids solving Hamilton-Jacobi-Isaacs equations, and thus the obtained controllers with parameters are relatively simple in form and easy in operation. Simulation with a numerical example shows that the controller is effective as it can optimizeH∞control by adjusting parameters. All these results are expected to be of use in the study ofH∞control for nonlinear systems with perturbations.

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Supervisory Machining Control: Design Approach and Experiments

CIRP Annals ◽  
1998 ◽  
Vol 47 (1) ◽  
pp. 301-306 ◽  
Author(s):  
Robert G. Landers ◽  
Galip A. Ulsoy
Keyword(s):  
Control Design ◽  
Design Approach ◽  
Machining Control

scholarly journals A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

2015 ◽  
Vol 66 (5) ◽  
pp. 270-276 ◽  
Author(s):  
Fouad Haouari ◽  
Bali Nourdine ◽  
Mohamed Segir Boucherit ◽  
Mohamed Tadjine
Keyword(s):  
Robotic Manipulators ◽  
Control Law ◽  
Control Procedure ◽  
Parametric Uncertainties ◽  
The Novel ◽  
External Disturbances ◽  
Diagram Method ◽  
Coefficient Diagram Method ◽  
Backstepping Controller ◽  
Puma Robot

AbstractA new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

scholarly journals A Model-Based Control Design Approach for Linear Free-Piston Engines

2017 ◽  
Vol 139 (11) ◽  
Author(s):  
T. N. Kigezi ◽  
J. F. Dunne
Keyword(s):  
Control Design ◽  
Linear Quadratic Regulator ◽  
Design Approach ◽  
Linear Quadratic ◽  
Free Piston ◽  
Model Based Control ◽  
Model Based ◽  
Bottom Dead Center ◽  
Free Piston Engine ◽  
Advanced Control

A general design approach is presented for model-based control of piston position in a free-piston engine (FPE). The proposed approach controls either “bottom-dead-center” (BDC) or “top-dead-center” (TDC) position. The key advantage of the approach is that it facilitates controller parameter selection, by the way of deriving parameter combinations that yield both stable BDC and stable TDC. Driving the piston motion toward a target compression ratio is, therefore, achieved with sound engineering insight, consequently allowing repeatable engine cycles for steady power output. The adopted control design approach is based on linear control-oriented models derived from exploitation of energy conservation principles in a two-stroke engine cycle. Two controllers are developed: A proportional integral (PI) controller with an associated stability condition expressed in terms of controller parameters, and a linear quadratic regulator (LQR) to demonstrate a framework for advanced control design where needed. A detailed analysis is undertaken on two FPE case studies differing only by rebound device type, reporting simulation results for both PI and LQR control. The applicability of the proposed methodology to other common FPE configurations is examined to demonstrate its generality.

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