scholarly journals Dynamic Stability of an Electric Monowheel System Using LQG-Based Adaptive Control

2021 ◽  
Vol 11 (20) ◽  
pp. 9766
Author(s):  
Ipsita Sengupta ◽  
Sagar Gupta ◽  
Dipankar Deb ◽  
Stepan Ozana
Keyword(s):  
Adaptive Control ◽  
Dynamic Stability ◽  
Control Structure ◽  
Control Method ◽  
Reference Model ◽  
State Space Model ◽  
Pole Placement ◽  
External Disturbances ◽  
Pole Placement Control ◽  
Lqg Controllers

This paper presents the simulation and calculation-based aspect of constructing a dynamically stable, self-balancing electric monowheel from first principles. It further goes on to formulate a reference model-based adaptive control structure in order to maintain balance as well as the desired output. First, a mathematical model of the nonlinear system analyzes the vehicle dynamics, followed by an appropriate linearization technique. Suitable parameters for real-time vehicle design are calculated based on specific constraints followed by a proper motor selection. Various control methods are tested and implemented on the state-space model of this system. Initially, classical pole placement control is carried out in MATLAB to observe the responses. The LQR control method is also implemented in MATLAB and Simulink, demonstrating the dynamic stability and self-balancing system property. Subsequently, the system considers an extensive range of rider masses and external disturbances by introducing white noise. The parameter estimation of rider position has been implemented using Kalman Filter estimation, followed by developing an LQG controller for the system, in order to mitigate the disturbances caused by factors such as wind. A comparison between LQR and LQG controllers has been conducted. Finally, a reference model-assisted adaptive control structure has been established for the system to account for sudden parameter changes such as rider mass. A reference model stabilizer has been established for the same purpose, and all results have been obtained by running simulations on MATLAB Simulink.

Multimode Adaptive Control for Tank Gun Control System Based on Tracking Differentiator

2011 ◽  
Vol 383-390 ◽  
pp. 79-85
Author(s):  
Dong Yuan ◽  
Xiao Jun Ma ◽  
Wei Wei
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
High Speed ◽  
Control Method ◽  
Reference Model ◽  
Gun Control ◽  
Math Model ◽  
Tracking Differentiator ◽  
Switch Control ◽  
Model Reference Adaptive

Aiming at the problems such as switch impulsion, insurmountability for influence caused by nonlinearity in one tank gun control system which adopts double PID controller to realize the multimode switch control between high speed and low speed movement, the system math model is built up; And then, Model Reference Adaptive Control (MRAC) method based on nonroutine reference model is brought in and the adaptive gun controller is designed. Consequently, the compensation of nonlinearity and multimode control are implemented. Furthermore, the Tracking Differentiator (TD) is affiliated to the front of controller in order to restrain the impulsion caused by mode switch. Finally, the validity of control method in this paper is verified by simulation.

Sinusoidal charging of Li‐ion battery based on frequency detection algorithm by pole placement control method

2019 ◽  
Vol 12 (3) ◽  
pp. 421-429 ◽  
Author(s):  
Hossein Vazini ◽  
Mehdi Asadi ◽  
Mohammad Karimadini ◽  
Hossein Hajisadeghian
Keyword(s):  
Control Method ◽  
Detection Algorithm ◽  
Pole Placement ◽  
Li Ion Battery ◽  
Frequency Detection ◽  
Li Ion ◽  
Pole Placement Control

Study on Fuzzy Multiple Reference Model Adaptive Control Strategies

2014 ◽  
Vol 962-965 ◽  
pp. 2932-2938
Author(s):  
Shu Xing Peng ◽  
Hua Xue ◽  
Dong Dong Li
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Reference Model ◽  
Control Strategies ◽  
Dynamic Performance ◽  
Control Precision ◽  
High Dynamic ◽  
Suitable Reference ◽  
And Control ◽  
Multiple Reference

A new fuzzy multiple reference model adaptive control method combined with fuzzy select and conventional adaptive control is presented. To overcome the control difficulties which due to significant and unpredictable system parameter variations, fuzzy logic rules are designed to choose the suitable reference model. The new method is applied to control the speed servo system of dynamic model of BLDCM, and the simulation results show it works well with high dynamic performance and control precision under the condition of great change in reference speed and load torque.

scholarly journals Enhanced Nonlinear Robust Control for TCSC in Power System

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
Chao Zhang ◽  
Xing Wang ◽  
Zhengfeng Ming ◽  
Zhuang Cai
Keyword(s):  
Adaptive Control ◽  
Time Delay ◽  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Uncertain Parameter ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Backstepping Sliding Mode Control

This paper proposes an enhanced robust control method, which is for thyristor controlled series compensator (TCSC) in presences of time-delay nonlinearity, uncertain parameter, and external disturbances. Unlike conventional adaptive control methods, the uncertain parameter is estimated by using system immersion and manifold invariant (I&I) adaptive control. Thus, the oscillation of states caused by the coupling between parameter estimator and system states can be avoided. In addition, in order to overcome the influences of time-delay nonlinearity and external disturbances, backstepping sliding mode control is adopted to design control law recursively. Furthermore, robustness of TCSC control subsystem is achievable provided that dissipation inequality is satisfied in each step. Effectiveness and efficiencies of the proposed control method are verified by simulations. Compared with adaptive backstepping sliding mode control and adaptive backstepping control, the time of reaching steady state is shortened by at least 11% and the oscillation amplitudes of transient responses are reduced by at most 50%.

scholarly journals Research on a Nonlinear Robust Adaptive Control Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Gaosheng Luo ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Adaptive Control ◽  
Elbow Joint ◽  
Control Method ◽  
Dynamic Performance ◽  
Robust Adaptive Control ◽  
Reference Trajectory ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Hydraulic Manipulator ◽  
Robust Adaptive

A robust adaptive control method with full-state feedback is proposed based on the fact that the elbow joint of a seven-function hydraulic manipulator with double-screw-pair transmission features the following control characteristics: a strongly nonlinear hydraulic system, parameter uncertainties susceptible to temperature and pressure changes of the external environment, and unknown outer disturbances. Combined with the design method of the back-stepping controller, the asymptotic stability of the control system in the presence of disturbances from uncertain systematic parameters and unknown external disturbances was demonstrated using Lyapunov stability theory. Based on the elbow joint of the seven-function master-slave hydraulic manipulator for the 4500 m Deep-Sea Working System as the research subject, a comparative study was conducted using the control method presented in this paper for unknown external disturbances. Simulations and experiments of different unknown outer disturbances showed that (1) the proposed controller could robustly track the desired reference trajectory with satisfactory dynamic performance and steady accuracy and that (2) the modified parameter adaptive laws could also guarantee that the estimated parameters are bounded.

Adaptive Control of Pressure Tracking for Polishing Process

2010 ◽  
Vol 132 (1) ◽  
Author(s):  
Liang Liao ◽  
Fengfeng Jeff Xi ◽  
Kefu Liu
Keyword(s):  
Adaptive Control ◽  
Contact Stress ◽  
Control Method ◽  
Minimum Degree ◽  
Adaptive Controller ◽  
Recursive Least Squares ◽  
Pole Placement ◽  
Polishing Process ◽  
Stress Theory ◽  
Self Tuning

In this paper, an adaptive controller is developed for the pressure tracking of the pressurized toolhead in order to maintain the constant contact stress for the polishing process. This is a new polishing control method, which combines the adaptive control theory and the constant stress theory of the contact model. By using an active pneumatic compliant toolhead, a recursive least-squares estimator is developed to estimate the pneumatic model, and then a minimum-degree pole-placement method is applied to design a self-tuning controller. The simulation and experiment results of the proposed controller are presented and discussed. The main advantage of the constant contact stress control is high figuring accuracy.

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