scholarly journals Grey Signal Predictor and Fuzzy Controls for Active Vehicle Suspension Systems via Lyapunov Theory

2021 ◽  
Vol 16 (3) ◽  
Author(s):  
Tim Chen ◽  
Chih Ching Hung ◽  
Yu Ching Huang ◽  
John C.Y. Chen ◽  
Samiur Rahman ◽  
...  
Keyword(s):  
Bat Algorithm ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Vehicle Suspension ◽  
Control Law ◽  
Backstepping Method ◽  
Application Range ◽  
Suspension Systems ◽  
Fuzzy Neural ◽  
The Stability

In order to investigate and decide that the vehicle asymptotic vibration stability and improved comfort, the present paper deals with a fuzzy neural network (NN) evolved bat algorithm (EBA) backstepping adaptive controller based on grey signal predictors. The Lyapunov theory and backstepping method is utilized to appraise the math nonlinearity in the active vehicle suspension as well as acquire the final simulation control law in order to track the suitable signal. The Discrete Grey Model DGM (2,1) have been thus used to acquire prospect movement of the suspension system, so that the command controller can prove the convergence and the stability of the entire formula through the Lyapunov-like lemma. The controller overspreads the application range of mechanical elastic vehicle wheel (MEVW) as well as lays a favorable theoretic foundation in adapting to new wheels.

RBF NN-Based Block PD-Type Backstepping Control of Induction Motor

2011 ◽  
Vol 467-469 ◽  
pp. 1116-1121
Author(s):  
Hai Yan Li ◽  
Yun An Hu
Keyword(s):  
Design Method ◽  
Lyapunov Theory ◽  
Control Law ◽  
Backstepping Method ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Control Matrix ◽  
Unknown Control ◽  
The Stability ◽  
Novel Design

For the model of induction motors(IMs) in field-oriented coordinates, a novel design method of controller is proposed, which combining block adaptive backstepping method with neural networks, introducing PD-type feedback, and making use of the diagonal feature of the unknown control matrix and the boundedness of its derivative. The control law and parameter updating law are derived using Lyapunov theory, which guarantees the stability of the whole system. The proposed approach can track the rotor speed and flux reference signals under parameter uncertainties. Simulation results show the effectiveness of the proposed approach.

NN-Based Block Adaptive Backstepping Control of Induction Motor

2011 ◽  
Vol 268-270 ◽  
pp. 528-533
Author(s):  
Hai Yan Li ◽  
Yun An Hu
Keyword(s):  
Induction Motor ◽  
Induction Motors ◽  
Lyapunov Theory ◽  
Control Law ◽  
Rotor Speed ◽  
Backstepping Method ◽  
Adaptive Backstepping ◽  
Reference Signals ◽  
Simulation Results ◽  
The Stability

Based on the model of induction motors in field-oriented coordinates, a block adaptive backstepping method is used to design a controller for induction motor. The control law and parameter updating law are derived using Lyapunov theory, which guarantees the stability of the whole system. The proposed approach can track the rotor speed and flux reference signals under parameter and load uncertainties. Simulation results show the effectiveness of the proposed approach.

Adaptive Backstepping Control of the Gripping Process of Heavy Manipulators

2017 ◽  
Author(s):  
Lixin Yang ◽  
Xianmin Zhang
Keyword(s):  
Tracking Control ◽  
Hydraulic Drive ◽  
Adaptive Controller ◽  
Drive System ◽  
Uncertain Parameters ◽  
Backstepping Method ◽  
Nonlinear Characteristics ◽  
Cylinder Model ◽  
Stability Principle ◽  
The Stability

A valve-controlled asymmetrical cylinder model was established to study the gripping hydraulic drive system of the grip device of heavy manipulator. Due to the strong nonlinear characteristics and uncertain parameters of the model, the Lyapunov stability principle was used to design a multistage inversion adaptive controller based on backstepping method and by introducing the virtual control parameter. The simulation results reveal that the tracking control and adaptive of uncertain parameters are very effective, which confirm that the designed controller can guarantee the stability of the closed-loop clamping hydraulic drive system.

Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor Drive

2015 ◽  
Vol 6 (4) ◽  
pp. 842 ◽  
Author(s):  
Anissa Hosseynia ◽  
Ramzi Trabelsi ◽  
Atif Iqbal ◽  
Med Faouzi Mimounia
Keyword(s):  
Permanent Magnet ◽  
Control Strategy ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Backstepping Control ◽  
Lyapunov Theory ◽  
Motor Drive ◽  
Control Law ◽  
Backstepping Controller ◽  
The Stability

This paper deals with the synthesis of a speed control strategy for a five-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller. The proposed control strategy considers the nonlinearities of the system in the control law. The stability of the backstepping control strategy is proved by the Lyapunov theory. Simulated results are provided to verify the feasibility of the backstepping control strategy.

Response control of a floating airport in heading waves with output saturation

2018 ◽  
Vol 25 (3) ◽  
pp. 571-580
Author(s):  
Shuyan Xia ◽  
Daolin Xu ◽  
Haicheng Zhang ◽  
Yousheng Wu
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Stability Control ◽  
Control Law ◽  
Backstepping Method ◽  
Floating Platform ◽  
Nonlinear Dynamic Model ◽  
Floating Structure ◽  
The Stability ◽  
Floating Airport

This paper presents a nonlinear control strategy to stabilize the response of a floating platform in waves. The floating platform consists of multiple floating modules connected in sequence with flexible connectors. A nonlinear dynamic model with a number of controllers is developed for the stability control of the chain-shape floating structure. The backstepping method in conjunction with the Lyapunov stability criteria is proposed to derive the control law for each of the control actuators where the actuator forces are limited with output saturation. The numerical experiments illustrate the feasibility and effectiveness of the control strategy in various conditions of heading waves. The performance of the control method is discussed, especially associated with the saturated output.

Control of an Underactuated Three-Link Passive–Active–Active Manipulator Based on Three Stages and Stability Analysis

2014 ◽  
Vol 137 (2) ◽  
Author(s):  
Xu-Zhi Lai ◽  
Chang-Zhong Pan ◽  
Min Wu ◽  
Simon X. Yang ◽  
Wei-Hua Cao
Keyword(s):  
Nonlinear Control ◽  
Control Strategy ◽  
Lyapunov Theory ◽  
Control Law ◽  
Integrated Method ◽  
The Third ◽  
Preparatory Stage ◽  
The Stability ◽  
And Control ◽  
Nonlinear Control Law

This paper presents a novel three-stage control strategy for the motion control of an underactuated three-link passive–active–active (PAA) manipulator. First, a nonlinear control law is designed to make the angle and angular velocity of the third link convergent to zero. Then, a swing-up control law is designed to increase the system energy and control the posture of the second link. Finally, an integrated method with linear control and nonlinear control is introduced to stabilize the manipulator at the straight-up position. The stability of the control system is guaranteed by Lyapunov theory and LaSalle’s invariance principle. Compared to other approaches, the proposed strategy innovatively introduces a preparatory stage to drive the third link to stretch-out toward the second link in a natural way, which makes the swing-up control easy and quick. Besides, the intergraded method ensures the manipulator moving into the balancing stage smoothly and easily. The effectiveness and efficiency of the control strategy are demonstrated by numerical simulations.

Parameter estimation and upper bounding adaptation in adaptive-robust control approaches for trajectory control of robots

Robotica ◽  
2002 ◽  
Vol 20 (6) ◽  
pp. 653-660 ◽  
Author(s):  
Ibrahim Uzmay ◽  
Recep Burkan
Keyword(s):  
Parameter Estimation ◽  
Adaptive Control ◽  
Robust Control ◽  
Uncertain System ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Adaptive Robust Control ◽  
Lyapunov Theory ◽  
Control Law ◽  
Control Input

In this paper a new robust adaptive control law for n-link robot manipulators with parametic uncertainties is derived using the Lyapunov theory thus guaranteed the stability of an uncertain system. The novelty of the adaptive robust control algorithm is that manipulator parameters and adaptive upper bounding functions are estimated to control the system properly, and the adaptive robust control law is also updated as an exponential function of manipulator kinematics, inertia parameters and tracking errors. The proposed adaptive control input includes a parameter estimation law as an adaptive controller and an additional control input vector as a robust controller. The developed approach has the advantages of both adaptive and robust control laws, without their discolour tags.

scholarly journals Adaptive High Order Sliding Mode Controller Design for Hypersonic Vehicle with Flexible Body Dynamics

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Bailing Tian ◽  
Wenru Fan ◽  
Qun Zong ◽  
Jie Wang ◽  
Fang Wang
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Hypersonic Vehicle ◽  
High Order ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Flexible Body Dynamics ◽  
Robust Adaptive ◽  
The Stability

This paper describes the design of a nonlinear robust adaptive controller for a flexible hypersonic vehicle model which is nonlinear, multivariable, and unstable, and includes uncertain parameters. Firstly, a control-oriented model is derived for controller design. Then, the model analysis is conducted for this model via input-output (I/O) linearized technique. Secondly, the sliding mode manifold is designed based on the homogeneity theory. Then, the adaptive high order sliding mode controller is designed to achieve the tracking for hypersonic vehicle where the upper bounds of the uncertainties are not known in advance. Furthermore, the stability of the system is proved via the Lyapunov theory. Finally, the Monte-Carlo simulation results on the full-order nonlinear model with aerodynamic uncertainties are provided to demonstrate the effectiveness of the proposed control strategy.

Ride Evaluation of Vehicle Suspension Employing Non-Linear Inerter

2013 ◽  
Vol 471 ◽  
pp. 9-13 ◽  
Author(s):  
M.F. Soong ◽  
Rahizar Ramli ◽  
Wan Nor Liza Wan Mahadi
Keyword(s):  
Ride Comfort ◽  
Relative Displacement ◽  
Free Play ◽  
Lower Percentage ◽  
Vehicle Suspension ◽  
Control Law ◽  
Passive Suspension ◽  
Suspension Systems ◽  
Lower Root ◽  
Non Linear

Inerter is a recent element in suspension systems with the property that the generated force is proportional to the relative acceleration between its two terminals, which is similar to the way a spring reacts to relative displacement and a damper to relative velocity. This paper presents the analysis of a non-linear inerter working in parallel to passive spring and damper of a vehicle suspension to evaluate its effect on vehicles ride. The non-linear inerter was theoretically capable of switching between on and off states depending on whether or not the suspension deflection was beyond a specified free play. In the study, this behavior was represented mathematically as control law which depended on the relative displacement between the sprung and unsprung masses. A mathematical quarter vehicle model incorporating the non-linear inerter was simulated in MATLAB/Simulink to determine the vehicle responses due to road input in the form of step profile for different combinations of free play and inerters on-state proportionality constant called the inertance. Results showed improvements in vehicle ride comfort, as demonstrated by the lower root-mean-squared sprung mass accelerations compared to the ordinary passive suspension with only spring and damper. Additionally, implementation of non-linear inerter gave lower percentage overshoot to step input, indicating better transient response than ordinary passive suspension.

scholarly journals Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

2021 ◽  
Vol 11 (1) ◽  
pp. 336
Author(s):  
Nga Thi-Thuy Vu ◽  
Loc Xuan Ong ◽  
Nam Hai Trinh ◽  
Sen Thi Huong Pham
Keyword(s):  
Mobile Robot ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Control Loops ◽  
Proposed Model ◽  
Control Scheme ◽  
System Uncertainties ◽  
Robust Adaptive ◽  
The Stability ◽  
Adaptive Control Algorithm

In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and wheel slips. Firstly, the model of the kinematic and dynamic loops is shown with presence of the disturbances and system uncertainties. Next, the adaptive controller for nonlinear mismatched disturbance systems based on the disturbances observer is presented in detail. The controller includes two parts, the first one is for the stability purpose and the later is for the disturbances compensation. After that this control scheme is applied for both two loops of the system. In this paper, the stability of the closed system which consists of two control loops and the convergence of the observers is mathematically analysed based on the Lyapunov theory. Moreover, the proposed model does not require the complex calculation so it is easy for the implementation. Finally, the simulation model is built for presented method and the existed one to verify the correctness and the effectiveness of the proposed scheme. The simulation results show that the introduced controller gives the good performances even that the desired trajectory is complicated and the working condition is hard.

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