scholarly journals Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu Tadese
Keyword(s):  
Optimal Control ◽  
Impulse Response ◽  
Inverted Pendulum ◽  
Control Method ◽  
Pole Placement ◽  
Control Technique ◽  
Comparison Results ◽  
Highly Nonlinear ◽  
Pole Placement Controller ◽  
Triple Inverted Pendulum

In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system. In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside. The impulse response simulation of the open loop system shows us that the pendulum is unstable. The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller. Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.

BACKSTEPPING CONTROLLER WITH PSO FOR AN UNDERACTUATED X4-AUV

2016 ◽  
Vol 78 (6-13) ◽  
Author(s):  
Nur Fadzillah Harun ◽  
Zainah Md. Zain
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Fitness Function ◽  
Control Technique ◽  
Underactuated System ◽  
Effective Response ◽  
Control Approach ◽  
Comparison Results ◽  
Highly Nonlinear ◽  
Backstepping Controller

X4-AUV is a type of an autonomous underwater vehicle (AUV) which has 4 inputs with six degrees of freedoms (6-DOFs) in motion and is classified under an underactuated system. Controlling an underactuated AUV is difficult tasks because of the highly nonlinear dynamic, uncertainties in hydrodynamics behaviour and mostly those systems fails to satisfy Brockett’s Theorem. It usually required a nonlinear control approach and this paper proposed a backstepping control method with Particle Swarm Optimization (PSO) to stabilize an underactuated X4-AUV system. In backstepping controller design, accurate parameters are important in order to obtain the maximal and effective response. Hence, PSO is implemented to obtain optimal parameters for backstepping controller and its carry out by minimizing the fitness function. Comparison results illustrated the controller with PSO has a smooth and fast transient response into the desired point compared than manually tune controller parameters and also improve the system performances. The validity of the proposed control technique for an underactuated X4-AUV demonstrates through simulation.

Comparison of Controllers for a UAV with Integral Effect and Kalman Estimator: By Bessel Polynomials and LQR

2013 ◽  
Vol 436 ◽  
pp. 54-60 ◽  
Author(s):  
Wenceslao Eduardo Rodríguez ◽  
Ramiro Ibarra ◽  
Gerardo Romero ◽  
David Lara ◽  
Jaime Arredondo ◽  
...  
Keyword(s):  
Steady State ◽  
Pole Placement ◽  
Control Technique ◽  
State Estimator ◽  
Control Laws ◽  
State Response ◽  
Integral Effect ◽  
Aerial Vehicle ◽  
Pole Placement Controller ◽  
Selection Of

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle. A problem that arises when performing pole placement controller is the selection of the poles, the Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator (observer). On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.These two control laws has the property of responding to a desired response according to a time or state response desired.

scholarly journals Multi-Timescale-Based Partial Optimal Control of a Proton-Exchange Membrane Fuel Cell

Energies ◽  
2019 ◽  
Vol 13 (1) ◽  
pp. 166
Author(s):  
Milos Milanovic ◽  
Verica Radisavljevic-Gajic
Keyword(s):  
Optimal Control ◽  
Fuel Cell ◽  
Proton Exchange Membrane ◽  
Proton Exchange ◽  
Operating Conditions ◽  
Pole Placement ◽  
Control Technique ◽  
Transient Model ◽  
Linearized Model ◽  
Exchange Membrane

This paper presents a Proton-Exchange Membrane Fuel Cell (PEMFC) transient model in stack current cycling conditions and its partial optimal control. The derived model is used for a specific application of the recently published multistage control technique developed by the authors. The presented control-oriented transient PEMFC model is an extension of the steady-state control-oriented model previously established by the authors. The new model is experimentally validated for transient operating conditions on the Greenlight Innovation G60 testing station where the comparison of the experimental and simulation results is presented. The derived five-state nonlinear control-oriented model is linearized, and three clusters of eigenvalues can be clearly identified. This specific feature of the linearized model is known as the three timescale system. A novel multistage optimal control technique is particularly suitable for this class of systems. It is shown that this control technique enables the designer to construct a local LQR, pole-placement or any other linear controller type at the subsystem level completely independently, which further optimizes the performance of the whole non-decoupled system.

Nonlinear Optimal Control for the Wheeled Inverted Pendulum System

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 29-47 ◽  
Author(s):  
G. Rigatos ◽  
K. Busawon ◽  
J. Pomares ◽  
M. Abbaszadeh
Keyword(s):  
Optimal Control ◽  
Inverted Pendulum ◽  
Control Method ◽  
Taylor Series Expansion ◽  
Nonlinear Optimal Control ◽  
Algebraic Riccati Equation ◽  
Time Step ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Wheeled Inverted Pendulum

SummaryThe article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to its underactuation. First, the dynamic model of the WIP undergoes approximate linearization around a temporary operating point which is recomputed at each time step of the control method. The linearization procedure makes use of Taylor series expansion and of the computation of the associated Jacobian matrices. For the linearized model of the wheeled pendulum, an optimal (H-infinity) feedback controller is developed. The controller’s gain is computed through the repetitive solution of an algebraic Riccati equation at each iteration of the control algorithm. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, by using the H-infinity Kalman Filter as a robust state estimator, the implementation of a state estimation-based control scheme becomes also possible.

Improvement Shifting Control of Continuously Variable Transmission (CVT) by Using PID, Pole Placement and LQG

2013 ◽  
Vol 446-447 ◽  
pp. 1165-1170
Author(s):  
Shu Yuan Ma ◽  
Bdran Sameh ◽  
Saifullah Samo ◽  
Aymn Bary
Keyword(s):  
Control System ◽  
Control Method ◽  
Operating Conditions ◽  
Pole Placement ◽  
Speed Ratio ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Variable Transmission ◽  
Simulation Results ◽  
Pole Placement Controller

In this paper, the CVT shifting control system based on vehicle operating conditions is modeled and simulated using MATLAB/SIMULINK. The modeling stage begins with the derivation of required mathematical model to illustrate the CVT shifting control system. Then, Linear Quadratic Gaussian (LQG), Proportional- Integrated-Derivative (PID) and Pole Placement are applied for controlling the shifting speed ratio of the modeled CVT shifting system. Simulation results of shifting controllers are presented in time domain and the results obtained with LQG are compared with the results of PID and Pole placement technique. Finally, the performances of shifting speed ratio controller systems are analyzed in order to choose which control method offers the better performance with respect to the desired speed ratio. According to simulation results, the LQG controller delivers better performance than PID and Pole Placement controller.

A Control Method for Non-Linear Time-Varying System Using Mixed H2/H∞ Control: Position and Force Control of 2-Link Manipulator

2001 ◽  
Author(s):  
Itsuro Kajiwara ◽  
Katsuhiro Yambe ◽  
Chiaki Nishidome
Keyword(s):  
Control Method ◽  
Linear Time ◽  
Gain Scheduling ◽  
Operating Conditions ◽  
Pole Placement ◽  
Time Varying ◽  
Linear Time Invariant ◽  
Highly Nonlinear ◽  
Switching Controller ◽  
Time Invariant

Abstract Dynamics of multi-link manipulators are highly nonlinear and depend on the time varying configuration. This paper presents a method of gain scheduling which consists in designing a linear time invariant (LTI) controller for each operating point and in switching controller when the operating conditions change. Each LTI controller is designed based on LMI approach in which an optimization problem is defined as a mixed H2/H∞ control problem with pole placement. The performance of the force and the position controls is defined by the H2 norm, and the robust stability according to gain scheduling is evaluated with the H∞ norm and the pole placement of the closed-loop system. The effectiveness and the practicability of the proposed method are verified by both simulations and experiments with 2-link manipulator system.

Comparison of Controllers for a UAV Type Quadrotor: Feedback Control by Bessel´s Polynomials and LQR with Kalman Filter

2014 ◽  
Vol 555 ◽  
pp. 40-48 ◽  
Author(s):  
Wenceslao Eduardo Rodríguez ◽  
Ramiro Ibarra ◽  
Gerardo Romero ◽  
David Lara
Keyword(s):  
Kalman Filter ◽  
Steady State ◽  
Pole Placement ◽  
Control Technique ◽  
State Estimator ◽  
Integral Effect ◽  
Aerial Vehicle ◽  
Pole Placement Controller ◽  
Selection Of ◽  
State Error

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle of four rotor model. The Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator. On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.

Trajectory Control of Miniature Helicopters Using a Unified Nonlinear Optimal Control Technique

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
Ming Xin ◽  
Yunjun Xu ◽  
Ricky Hopkins
Keyword(s):  
Optimal Control ◽  
Real Time ◽  
Control Method ◽  
Nonlinear Optimal Control ◽  
Suboptimal Control ◽  
Control Technique ◽  
Control Law ◽  
Wind Gust ◽  
Flight Envelope ◽  
Time Optimal

It is always a challenge to design a real-time optimal full flight envelope controller for a miniature helicopter due to the nonlinear, underactuated, uncertain, and highly coupled nature of its dynamics. This paper integrates the control of translational, rotational, and flapping motions of a simulated miniature aerobatic helicopter in one unified optimal control framework. In particular, a recently developed real-time nonlinear optimal control method, called the θ-D technique, is employed to solve the resultant challenging problem considering the full nonlinear dynamics without gain scheduling techniques and timescale separations. The uniqueness of the θ-D method is its ability to obtain an approximate analytical solution to the Hamilton–Jacobi–Bellman equation, which leads to a closed-form suboptimal control law. As a result, it can provide a great advantage in real-time implementation without a high computational load. Two complex trajectory tracking scenarios are used to evaluate the control capabilities of the proposed method in full flight envelope. Realistic uncertainties in modeling parameters and the wind gust condition are included in the simulation for the purpose of demonstrating the robustness of the proposed control law.

The Optimal Control Method of Impulse Response in Prosthetic Leg

2014 ◽  
Vol 915-916 ◽  
pp. 1181-1185
Author(s):  
Xin Yi Xiao ◽  
Han Bin Xiao
Keyword(s):  
Optimal Control ◽  
Active Control ◽  
Impulse Response ◽  
Passive Control ◽  
Control Method ◽  
Control Variable ◽  
The Body ◽  
Control Techniques ◽  
Suspension Systems ◽  
Optimal Control Method

Passive control and semi-active control of vibration in mechanical systems have recently successfully been used in automobiles and airplanes suspension systems. These control techniques are able to guarantee the performances of all vibration structures. Unfortunately, the knowledge and data has not been readily applied to human prosthetics. The information collected can be directly applied to accelerate research into dampening for prosthetics. A focus of this paper is on modeling and controlling vibrations by a given impulse onto prosthetic legs. Simulations of using passive control and idealized skyhook dampening are using Matlab to complete. Through model analysis, control variable, simulation procedures and comparison of two modeling, the models have been refined and with idealized skyhook dampening suspension provide significant improvement of the body characteristics compared with passive suspensions.

NEGATIVE IMAGINARY THEOREM WITH AN APPLICATION TO ROBUST CONTROL OF A CRANE SYSTEM

2016 ◽  
Vol 78 (6-11) ◽  
Author(s):  
Auwalu M. Abdullahi ◽  
Z. Mohamed ◽  
M. S. Zainal Abidin ◽  
R. Akmeliawati ◽  
A. R. Husain ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sine Wave ◽  
Pole Placement ◽  
Gantry Crane ◽  
Linear Matrix ◽  
Control Scheme ◽  
Nonlinear Control Method ◽  
Pole Placement Controller ◽  
Sway Motion

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller),  designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme.

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