scholarly journals Single Link Manipulator Trajectory Tracking using Nonlinear Control Algorithm

2021 ◽  
Vol 24 (1) ◽  
pp. 30-39
Author(s):  
Musadaq Ahmed Hadi ◽  
Hazem I. Ali
Keyword(s):  
Performance Improvement ◽  
Control Algorithm ◽  
Control Design ◽  
Optimal Parameters ◽  
Nonlinear Controller ◽  
Transformation Technique ◽  
New Techniques ◽  
Lyapunov Stability Analysis ◽  
Single Link ◽  
The Stability

A new robust control algorithm is proposed for a class of nonlinear systems represented by a Single Link Manipulator (SLM) system. This algorithm is based on new techniques and methods in order to obtain a controller for the SLM system. First of all, the system is simplified using Variable Transformation Technique (VTT) in order to fit the analysis procedure. Then, a new idea of designing a model reference for the multiple states (n=4) system is presented to correspond the control design. Next, the Lyapunov Stability Analysis (LSA) is used to figure out a proper controller that can compensate the stability and the performance of the SLM system. After that, the Most Valuable Player Algorithm (MVPA) is applied to find the optimal parameters of the proposed controller to accomplish the optimum performance improvement. Finally, it can be concluded that the proposed control algorithm has improved the stability and the performance of the SLM system. In addition, the simulation results show the remarkable effects of the proposed nonlinear controller on the SLM system.

scholarly journals New Nonlinear Controller for a Class of Chaotic Systems Based on Adaptive Backstepping Fuzzy-Immune Control

2011 ◽  
Vol 2011 ◽  
pp. 1-20 ◽  
Author(s):  
Kai-Shiuan Shih ◽  
Tzuu-Hseng S. Li ◽  
Shun-Hung Tsai
Keyword(s):  
Chaotic Systems ◽  
Upper Bounds ◽  
Optimal Parameters ◽  
Nonlinear Controller ◽  
Nonlinear Functions ◽  
Adaptive Backstepping ◽  
Fuzzy Method ◽  
Control Schemes ◽  
Adaptive Laws ◽  
The Stability

An adaptive backstepping fuzzy-immune controller for a class of chaotic systems is proposed. An adaptive backstepping fuzzy method and adaptive laws are used to approximate nonlinear functions and the unknown upper bounds of uncertainty, respectively. The proposed adaptive backstepping fuzzy-immune controller guarantees the stability of a class of chaotic systems while maintaining good tracking performance. The fuzzy-immune algorithm is used for mathematical calculations. The intelligence algorithm consists of the adaptive backstepping fuzzy method and a novel fuzzy-immune scheme which generates optimal parameters for the control schemes. Finally, two simulation examples are given to illustrate the effectiveness of the proposed approach.

scholarly journals Novel Robust Control of Stochastic Nonlinear Switched Fuzzy Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Hong Yang ◽  
Yu Zhang ◽  
Le Zhang
Keyword(s):  
Fuzzy Systems ◽  
Control Algorithm ◽  
Convex Combination ◽  
Control Design ◽  
Good Control ◽  
World Systems ◽  
Switching Law ◽  
State Dependent ◽  
Dependent Form ◽  
The Stability

This paper addresses the problem of designing novel switching control for a class of stochastic nonlinear switched fuzzy systems with time delay. Firstly, a stochastic nonlinear switched fuzzy system can precisely describe continuous and discrete dynamics as well as their interactions in the complex real-world systems. Next, novel control algorithm and switching law design of the state-dependent form are developed such that the stability is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

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.

Map Width Enhancement Technique for a Turbocharger Compressor

2013 ◽  
Vol 136 (6) ◽  
Author(s):  
Subenuka Sivagnanasundaram ◽  
Stephen Spence ◽  
Juliana Early
Keyword(s):  
Performance Improvement ◽  
Peak Pressure ◽  
Pressure Ratio ◽  
Comparison Study ◽  
Heavy Duty ◽  
Recirculating Flow ◽  
Heavy Duty Diesel ◽  
And Performance ◽  
The Stability ◽  
The Impact

This paper presents an investigation of map width enhancement and the performance improvement of a turbocharger compressor using a series of static vanes in the annular cavity of a classical bleed slot system. The investigation has been carried out using both experimental and numerical analysis. The compressor stage used for this study is from a turbocharger unit used in heavy duty diesel engines of approximately 300 kW. Two types of vanes were designed and added to the annular cavity of the baseline classical bleed slot system. The purpose of the annular cavity vane technique is to remove some of the swirl that can be carried through the bleed slot system, which would influence the pressure ratio. In addition to this, the series of cavity vanes provides a better guidance to the slot recirculating flow before it mixes with the impeller main inlet flow. Better guidance of the flow improves the mixing at the inducer inlet in the circumferential direction. As a consequence, the stability of the compressor is improved at lower flow rates and a wider map can be achieved. The impact of two cavity vane designs on the map width and performance of the compressor was highlighted through a detailed analysis of the impeller flow field. The numerical and experimental study revealed that an effective vane design can improve the map width and pressure ratio characteristic without an efficiency penalty compared to the classical bleed slot system without vanes. The comparison study between the cavity vane and noncavity vane configurations presented in this paper showed that the map width was improved by 14.3% due to a significant reduction in surge flow and the peak pressure ratio was improved by 2.25% with the addition of a series of cavity vanes in the annular cavity of the bleed slot system.

scholarly journals An adaptive hierarchical control for aerial manipulators

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1527-1550 ◽  
Author(s):  
Francesco Pierri ◽  
Giuseppe Muscio ◽  
Fabrizio Caccavale
Keyword(s):  
Control Algorithm ◽  
Hierarchical Control ◽  
Bottom Layer ◽  
Trajectory Tracking Control ◽  
Aerial Manipulator ◽  
Control Scheme ◽  
Modelling Uncertainties ◽  
Aerial Vehicle ◽  
The Stability

SUMMARYThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

CONSTANT AND VARIABLE IN THE STYLE OF A RUSSIAN PIANO QUARTET

2020 ◽  
Vol 1 (2) ◽  
pp. 69-74
Author(s):  
N. K. Samoilova ◽  
Keyword(s):  
Chamber Music ◽  
New Techniques ◽  
Functional Roles ◽  
Russian Music ◽  
Piano Quartet ◽  
Music Making ◽  
The Difference ◽  
The Stability ◽  
Transformation Processes ◽  
Different Levels

The process of the steady rooting of invariant genre features of a piano quartet is considered through the ratio between stable and mobile features. Here there is either the complete independence of the instruments, but on the principles of equal participation in the embodiment of musical content, or the variability in the relations of instrumental parts. As the main ones in the genre, the musical norms of the classic-romantic style and the stability of the timbre composition are established. It is noted that in Russian music the evolution of the piano quartet passed through different phases: genre stabilization and recovery, temporary stop and subsequent active development. Transformation processes went through different levels: structure, content, instrumental- timbre solutions, rethinking the functional roles of partner instruments. The movement from the traditional normativity of instrumental compositions to the difference of timbre combinations in the XXth–XXIst centuries was primarily predetermined by such factors as polyphonization of texture, the active introduction of polyphonic forms, new techniques of instrumentation. In the modern piano quartet, the central idea of chamber music making, the idea of co-creation generates both an extremely individualized form of embodiment and a free timbre composition. In conclusion, it is noted that the piano quartet genre has the ability to accumulate the leading style trends in chamber music of different eras.

PD Controller With Self Adaptive Gains for Quadrotor Waypoint Navigation

2020 ◽  
Author(s):  
Madhavan Sudakar ◽  
Siddharth Sridhar ◽  
Manish Kumar
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Simple Structure ◽  
Reference Model ◽  
Pd Controller ◽  
Lyapunov Stability Analysis ◽  
Waypoint Navigation ◽  
Novel Method ◽  
Model Reference Adaptive ◽  
Random Gain

Abstract Proportional-Derivative (PD) controllers are commonly used in quadrotors due to their simple structure. Tuning of the gains of the PD controller is often cumbersome due to strong coupling of the dynamics between three linear and three angular degrees of freedom. This paper presents a novel method of auto adjusting the proportional and derivative gains of the quadrotor without the use of any stable reference model (unlike model reference adaptive control). The gains are automatically adjusted throughout the flight based on just the state errors. Lyapunov stability analysis and adaptive gain law is used to formulate the control algorithm to achieve way point navigation. It is shown that our proposed controller achieves effective way point navigation even when started off from random gain values.

Control of an Asynchronous Electric Drive Based on Forecasting Its State

2021 ◽  
Vol 64 (3) ◽  
pp. 45-52
Author(s):  
Evgeny Eshchin ◽  
Keyword(s):  
Electric Drive ◽  
Control Algorithm ◽  
Asynchronous Motor ◽  
Quality Of Control ◽  
Asynchronous Electric Drive ◽  
Theory Of Optimal Control ◽  
The Stability ◽  
Control System Model ◽  
And Control

Variants of constructing control systems with a lagging argument for the positioning problem of an asyn-chronous electric motor (IM) and the problem of energy-saving AM control are considered. Variants of control of an asynchronous electric drive with IM on the basis of predicting its state are considered. The analytical de-sign of the predictor (ADP) is an asynchronous motor control algorithm based on the mathematical theory of optimal control (L.S. Pontryagin's maximum principle). The control algorithm (ADP) ensures the achievement of the minimum value of the target functional, which (functional), in contrast to the structure of the classical pre-dictive control system (Model Predictive Control - MPC), is clearly not part of the ADP. Calculations of the movements of an electric drive with an IM in the control modes of its state, taking into account delays along the channels for assessing its state and control, as well as using predictors, are given. The effectiveness of the in-troduction of predictors to improve the stability and quality of control of an electric drive with an IM has been established.

Robust Synchronization of Fractional-Order Arneodo Chaotic Systems Using a Fractional Sliding Mode Control Strategy

2018 ◽  
pp. 1-22
Author(s):  
Samir Ladaci ◽  
Karima Rabah ◽  
Mohamed Lashab
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Control Design ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Configuration ◽  
The Stability

This chapter investigates a new control design methodology for the synchronization of fractional-order Arneodo chaotic systems using a fractional-order sliding mode control configuration. This class of nonlinear fractional-order systems shows a chaotic behavior for a set of model parameters. The stability analysis of the proposed fractional-order sliding mode control law is performed by means of the Lyapunov stability theory. Simulation examples on fractional-order Arneodo chaotic systems synchronization are provided in presence of disturbances and noises. These results illustrate the effectiveness and robustness of this control design approach.

scholarly journals Structured H∞ Control of an Electric Power Steering System

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Hongbo Zhou ◽  
Aiping Pang ◽  
Jing Yang ◽  
Zhen He
Keyword(s):  
Electric Power ◽  
Control Design ◽  
Stability Margin ◽  
Steering System ◽  
Practical Implementation ◽  
Electric Power Steering ◽  
Power Steering ◽  
Performance Requirements ◽  
Electric Power Steering System ◽  
The Stability

Electric power steering (EPS) systems are prone to oscillations because of a very small phase angle margin, so a stable controller is required to increase the stability margin. In addition, the EPS system has parameter disturbances in the gain of the torque map under different conditions, which requires a certain degree of robustness in the control design. This paper synthesizes the multidimensional performance requirements considering the stability margin, robustness, and bandwidth of the system to form an H∞ optimization matrix with multidimensional performance output in using the structured H∞ control design. The structured H∞ controller not only retains the characteristics of traditional H∞ controllers with excellent robust performance and high stability margin but also has a lower order, which can be better applied in practice. Based on the performance requirements of the system and practical implementation, the structured H∞ controllers with different orders were designed, and the feasibility of the structured controller was confirmed through comparison and theoretical analysis.

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