scholarly journals Position Control of a Solenoid Based Linearly Movable Armature System using Robust Control Technique

2020 ◽  
Author(s):  
mustefa jibril
Keyword(s):  
Robust Control ◽  
Position Control ◽  
Control Technique ◽  
Armature System

scholarly journals Position Control of a Solenoid Based Linearly Movable Armature System using Robust Control Technique

2020 ◽  
Author(s):  
Mustefa Jibril
Keyword(s):  
Robust Control ◽  
Control Systems ◽  
Position Control ◽  
Sine Wave ◽  
Pole Placement ◽  
Control Technique ◽  
H Infinity ◽  
Armature System ◽  
Reference Track ◽  
Regional Pole Placement

In this paper, a solenoid based linearly movable armature system is designed using robust control theory in order to improve the performance of the system. Reference track method is the best performance analysis for position control systems. Among the robust controllers, H infinity mixed-sensitivity and Mixed H 2 /H∞ with Regional Pole Placement Controllers are used to improve the performance of the system. Comparison of the proposed controllers for tracking a reference displacement signals (step and sine wave) and a promising simulation result have been obtained.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

scholarly journals Nonlinear Adaptive Robust Control of the Electro-Hydraulic Servo System

2020 ◽  
Vol 10 (13) ◽  
pp. 4494 ◽  
Author(s):  
Lijun Feng ◽  
Hao Yan
Keyword(s):  
Robust Control ◽  
Position Control ◽  
External Disturbance ◽  
Servo System ◽  
Adaptive Robust Control ◽  
Superior Performance ◽  
Parametric Uncertainties ◽  
State Equations ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper focuses on high performance adaptive robust position control of electro-hydraulic servo system. The main feature of the paper is the combination of adaptive robust algorithm with discrete disturbance estimation to cope with the parametric uncertainties, uncertain nonlinearities, and external disturbance in the hydraulic servo system. First of all, a mathematical model of the single-rod position control system is developed and a nonlinear adaptive robust controller is proposed using the backstepping design technique. Adaptive robust control is used to encompass the parametric uncertainties and uncertain nonlinearities. Subsequently, a discrete disturbance estimator is employed to compensate for the effect of strong external disturbance. Furthermore, a special Lyapunov function is formulated to handle unknown nonlinear parameters in the system state equations. Simulations are carried out, and the results validate the superior performance and robustness of the proposed method.

scholarly journals A Dai–Yuan conjugate gradient algorithm of linear equation constrained optimization approach for optimal robust controller of bipedal robots

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989017
Author(s):  
M Wang ◽  
ZB Sun ◽  
BC Zhang ◽  
ZX Pang ◽  
DW Jiang
Keyword(s):  
Robust Control ◽  
Constrained Optimization ◽  
Linear Equation ◽  
Hybrid System ◽  
Optimization Problem ◽  
Numerical Results ◽  
Control Technique ◽  
Bipedal Robots ◽  
Robust Controller ◽  
Bipedal Robot

In this article, combined rapidly exponential control Lyapunov function with hybrid zero dynamics, a sufficiently descent projected Dai–Yuan approach is proposed, investigated, and analyzed for online solving optimal robust control problems with linear equation constraints of bipedal robots. Moreover, a new approach is developed for designing optimal robust controller. To demonstrate the effectiveness and feasibility of the proposed method, we will conduct numerical simulations on the model of three-link robot with nonlinear, impulsive, and under-actuated dynamics. Numerical results show that the bipedal robot can walk effectively and stability on the ground though the optimal robust controller when the parameters of the hybrid system model are disturbed three times. Furthermore, under the random noise condition, the bipedal robot can walk stably and effectively through online computing the nonlinear optimization problem for optimal robust controller. In addition, some classical control methods are compared with the developed approach in this article, numerical results are reported and analyzed to substantiate the feasibility and superiority of the proposed method for linear equation constrained optimization problem. Last, this article develops a systematic approach on exploiting optimal robust control technique to design hybrid system models for robustly and accurately via online solving linear equation constrained optimization problems.

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