Design of Modified Repetitive Controller for T–S Fuzzy Systems

2019 ◽  
Vol 23 (3) ◽  
pp. 602-610 ◽  
Author(s):  
Manli Zhang ◽  
Min Wu ◽  
Luefeng Chen ◽  
Pan Yu ◽  
◽  
...  
Keyword(s):  
Stability Condition ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Linear Matrix ◽  
Continuous Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
The Stability ◽  
Repetitive Controller

A repetitive controller contains a pure-delay positive-feedback loop that makes it difficult to stabilize a strictly proper system. A low-pass filter is inserted in a repetitive controller to relax the stability condition of the modified repetitive-control system at the cost of degrading the tracking performance. In this study, a modified repetitive-control approach is developed, which reaches a balance between the stability and tracking performance for a class of affine nonlinear systems based on the Takagi–Sugeno fuzzy model. First, a 2D model is established to adjust continuous control and discrete learning actions preferentially induced by exploiting the 2D property in a repetitive-control process. Then, the Lyapunov stability theory and 2D system theory are used to derive a sufficient stability condition in the form of linear matrix inequalities to design parallel-distributed-compensation-based state-feedback controllers. Finally, an application-oriented example is used, and a comparison is performed to show that an extra variable is introduced such that the developed method has a better tracking performance.

Tracking Performance Improvement of Repetitive Controller for Nano-Manipulating Systems With Time Delays

2019 ◽  
Author(s):  
Pengbo Liu ◽  
Peng Yan
Keyword(s):  
Time Delay ◽  
Performance Improvement ◽  
Controller Design ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Performance Improvements ◽  
Low Pass ◽  
Repetitive Controller

Abstract This paper investigates the robust repetitive controller design with improved tracking performance for nano-manipulating systems with time delay. In order to handle the time delay caused by the analog-to-digital (A/D) conversion of the capacitive sensors with ultra high precision, we modify the conventional repetitive control structure where the design of low pass filter is formulated as an H∞ optimization problem. For the purpose of tracking performance improvement, we further modify the structure of the low pass filter by shaping the sensitivity functions of the closed-loop system. With consideration of the existing of model uncertainties, the design of the modified low pass filter is also formulated as an H∞ optimization of infinite dimensional systems. The effectiveness of the proposed repetitive control architecture is further verified by real time experiments on a piezo driven nano-stage, where significant tracking performance improvements are demonstrated comparing with the traditional repetitive controller.

scholarly journals L 1 Adaptive Fractional Control Optimized by Genetic Algorithms with Application to Polyarticulated Robotic Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Boutheina Maalej ◽  
Rim Jallouli Khlif ◽  
Chokri Mhiri ◽  
Mohamed Habib Elleuch ◽  
Nabil Derbel
Keyword(s):  
Genetic Algorithms ◽  
Adaptive Control ◽  
Time Lag ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
Low Pass ◽  
The Stability ◽  
Fractional Control ◽  
Model Reference Adaptive

Recently, an adaptive control approach has been proposed. This approach, named L 1 adaptive control, involves the insertion of a low-pass filter at the input of the Model Reference Adaptive Control (MRAC). This controller has been designed to overcome several limitations of classical adaptive controllers such as (i) the initialization of estimated parameters, (ii) the stability problems with high adaptation gains, and (iii) the appropriate parameter excitation. In this paper, a new design of the filter is presented, used for L 1 adaptive control, for which the desired performances are guaranteed (appropriate values of the control during start-up, a high filtering of noises, a reduced time lag, and a reduced energy consumption). Parameters of the new proposed filter have been optimised by genetic algorithms. The proposed L 1 adaptive fractional control is applied to a polyarticulated robotic system. Simulation results show the efficiency of the proposed control approach with respect to the classical L 1 adaptive control in the nominal case and in the presence of a multiplicative noise.

Robust active disturbance attenuation control of an uncertain quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Ajeet kumar Bhatia ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
The State ◽  
Disturbance Attenuation ◽  
State Variables ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Highly Nonlinear ◽  
The Stability

PurposeThe aim of this research is to design a robust active disturbance attenuation control (RADAC) technique combined with an extended high gain observer (EHGO) and low pass filter (LPF).Design/methodology/approachFor designing a RADAC technique, the sliding mode control (SMC) method is used. Since the standard method of SMC exhibits a chattering phenomenon in the controller, a multilayer sliding mode surface is designed for avoiding the chattering. In addition, to attenuate the unwanted uncertainties and disturbances (UUDs), the techniques of EHGO and LPF are deployed. Besides acting as a patch for disturbance attenuation, the EHGO design estimates the state variables. To investigate the stability and effectiveness of the designed control algorithm, the stability analysis followed by the simulation study is presented.FindingsThe major findings include the design of a chattering-free RADAC controller based on the multilayer sliding mode surface. Furthermore, a criterion of integrating the LPF scheme within the EHGO scheme is also developed to attenuate matched and mismatched UUDs.Practical implicationsIn practice, the quadrotor flight is opposed by different kinds of the UUDs. And, the model of the quadrotor is a highly nonlinear underactuated model. Thus, the dynamics of the quadrotor model become more complex and uncertain due to the additional UUDs. Hence, it is necessary to design a robust disturbance attenuation technique with the ability to estimate the state variables and attenuate the UUDs and also achieve the desired control objectives.Originality/valueDesigning control methods to attenuate the disturbances while assuming that the state variables are known is a common practice. However, investigating the uncertain plants with unknown states along with the disturbances is rarely taken in consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the UUDs as well as investigate a criterion to reduce the chattering incurred in the controller due to the standard SMC algorithm.

scholarly journals Modeling and Control of Fuel Cell/Supercapacitor Hybrid Source Based on Energetic Macroscopic Representation

2021 ◽  
Vol 297 ◽  
pp. 01049
Author(s):  
Mohamed Haidoury ◽  
Hatim Jbari ◽  
Mohammed Rachidi
Keyword(s):  
Fuel Cell ◽  
Proton Exchange Membrane ◽  
Primary Source ◽  
Proton Exchange ◽  
Secondary Source ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Modeling And Control ◽  
Control Approach ◽  
Dynamic Simulator

In this paper, we present a dynamic simulator that uses a proton exchange membrane fuel cell (PEMFC). This source, is used as a primary source with a supercapacitor (SC) considered as a secondary source. This simulator integrates a PEMFC’s dynamic model, validated on the Bahia bench and a semi-empirical model of SC. The developed model is implemented using the macroscopic energetic representation tool (EMR). The energy management system (EMS) is based on rule-based power management, where a low-pass filter splits the power among sources (PEMFC and SCs) using a cut-off frequency of 0.2Hz, and a controller block that regulates the bus voltage deduced by the EMR’s inversion-based control approach.

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

scholarly journals Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

Algorithms ◽  
2019 ◽  
Vol 12 (1) ◽  
pp. 20 ◽  
Author(s):  
Yong-Hong Lan ◽  
Jun-Jun Xia ◽  
Yue-Xiang Shi
Keyword(s):  
Dynamic System ◽  
Control Problem ◽  
Discrete Time ◽  
Repetitive Control ◽  
Original System ◽  
Linear Matrix ◽  
Discrete Time Systems ◽  
Guaranteed Cost ◽  
Time Systems ◽  
Repetitive Controller

In this paper, a robust guaranteed-cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, a repetitive controller, combined with preview compensator, is inserted in the forward channel. By using the L-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed-cost preview repetitive control problem is transformed into a guaranteed-cost control problem for the augmented dynamic system. For a given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by using a parameter-dependent Lyapunov function method and linear matrix inequality (LMI) techniques. Incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included, to show the effectiveness of the proposed method.

Disturbance Elimination of Buck-Converter with Resonant LPF via ILQ Servo-System

2014 ◽  
Vol 492 ◽  
pp. 493-498
Author(s):  
Shuhei Shiina ◽  
Sidshchadhaa Aumted ◽  
Hiroshi Takami
Keyword(s):  
Transfer Functions ◽  
Design Method ◽  
Servo System ◽  
State Equation ◽  
Buck Converter ◽  
Linear Quadratic ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
The Stability

The proposed optimal control on the basis of both current and voltage of the buck-converter is designed to be based on Inverse Linear Quadratic (ILQ) design method with the resonant low pass filter, which eliminates the disturbance by appended disturbance compensator. The designed scheme is composed of the state equation, an optimal ILQ solution, the ILQ servo-system with the disturbance elimination, the optimal basic gain, the optimal condition, the transfer functions and the disturbance compensator. Our results show the proposed strategy is the stability and robust control and has been made to improve ILQ control for the disturbance elimination of the output response, which guarantees the optimal gains on the basis of polynomial pole assignment.

Analysis and Synthesis of Discrete-Time Repetitive Controllers

1989 ◽  
Vol 111 (3) ◽  
pp. 353-358 ◽  
Author(s):  
Masayoshi Tomizuka ◽  
Tsu-Chin Tsao ◽  
Kok-Kia Chew
Keyword(s):  
Discrete Time ◽  
Tracking Error ◽  
Disk File ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Analysis And Synthesis ◽  
Holding Device ◽  
Low Pass ◽  
Actuator System ◽  
Repetitive Controller

Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The “plug-in” repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the “plug-in” repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low-pass filter or replaced by a delayed first-order hold.

Integrated Modified Repetitive Control With Disturbance Observer of Piezoelectric Nanopositioning Stages for High-Speed and Precision Motion

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Zhao Feng ◽  
Jie Ling ◽  
Min Ming ◽  
Xiaohui Xiao
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
External Disturbance ◽  
Repetitive Control ◽  
Optimization Procedure ◽  
Tracking Performance ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
The Stability ◽  
Precision Motion

The tracking performance of piezoelectric nanopositioning stages is vital in many applications, such as scanning probe microscopes (SPMs). Although modified repetitive control (MRC) can improve tracking performance for commonly used periodic reference input, it is sensitive to unexpected disturbances that deteriorate tracking precision, especially for high-speed motion. In order to achieve high-speed and precision motion, in this paper, a new composite control scheme by integrating MRC with disturbance observer (DOB) is developed. To simplify controller implementation, the hysteresis nonlinearity is treated as external disturbance and the proposed method is designed in frequency domain. The stability and robust stability are analyzed, and an optimization procedure to calculate the controller parameters is employed to enhance the performance to the maximum extent. To validate the effectiveness of the proposed method, comparative experiments are performed on a piezoelectric nanopositioning stage. Experimental results indicate that the hysteresis is suppressed effectively and the proposed method achieves high-speed and precision tracking with triangular waves references up to 25 Hz and improves the disturbance rejection ability with disturbances under different frequencies and robustness to model uncertainty through comparing with feedback controllers and MRC, respectively.

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