scholarly journals Sensitivity Analysis of Exact Tracking Error Dynamics Passive Output Control for a Flat/Partially Flat Converter Systems

Electronics ◽  
2020 ◽  
Vol 9 (11) ◽  
pp. 1942
Author(s):  
Ganesh Kumar Srinivasan ◽  
Hosimin Thilagar Srinivasan ◽  
Marco Rivera
Keyword(s):  
Tracking Error ◽  
Output Feedback Control ◽  
Dynamic Loads ◽  
Control Law ◽  
Output Control ◽  
State Variable ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Error Dynamics

In this paper, identification of sensitive variables is attempted for second-order (flat/partially flat) and fourth-order partially flat converters with dynamic loads. The sensitivity nature of each state variable to the output speed variable of the DC motor for the above-mentioned systems was analyzed via the frequency domain technique. Further, in continuation of this, we aimed to confirm that the variables that are used in the control law exact tracking error dynamics, passive output feedback control (ETEDPOF) are sensitive. To verify the sensitivity property, an experimental case study was done using ETEDPOF and compared with the proportional-integral controller (PIC) for a flat system, and the results are presented.

Adaptive Nonlinear Control for Spacecraft With Coupled Translational and Attitude Dynamics

2001 ◽  
Author(s):  
Haizhou Pan ◽  
Vikram Kapila
Keyword(s):  
Nonlinear Control ◽  
Tracking Error ◽  
Attitude Motion ◽  
Control Law ◽  
Attitude Dynamics ◽  
Tracking Errors ◽  
Motion Error ◽  
Attitude Tracking ◽  
Inertia Parameters ◽  
Error Dynamics

Abstract In this paper, we address a tracking control problem for the coupled translational and attitude motion of a spacecraft. Specifically, a nonlinear adaptive control law is developed to ensure global asymptotic tracking of the desired translational and attitude trajectories in the presence of unknown mass and inertia parameters of spacecraft. Using the vectrix formalism the translational and attitude dynamics of spacecraft is modeled, where the mutual coupling in the translational and attitude motion induced by their gravitational interaction is duly accounted. The four-parameter quaternion representation is employed to describe the attitude kinematics of spacecraft in order to enable large orientation maneuvers. Based on the structure of the resulting system dynamics, the filtered translational and attitude tracking error dynamics are developed, which facilitate the transformation of second-order translational and attitude motion error dynamics as first-order equations, thus providing a considerable simplification in control law synthesis/analysis. With the aid of two linear operators, the open-loop filtered tracking error dynamics is parameterized such that the unknown mass and inertia parameters of spacecraft are isolated and can be estimated on-line. Using a Lyapunov framework, nonlinear control and adaptation laws are designed that ensure the global asymptotic convergence of the translational and attitude position tracking errors, despite the presence of unknown mass and inertia parameters of spacecraft. In addition, the form of the filtered tracking error reveals the convergence of translational and attitude velocity tracking errors of spacecraft. An illustrative numerical simulation is presented to demonstrate the effectiveness of the proposed control design methodology for the coupled translational and attitude motion control of spacecraft.

Tracking Trajectories in a Continuous Anaerobic Bioreactor Employing a Nonlinear Proportional Controller

2007 ◽  
Vol 5 (1) ◽  
Author(s):  
M. Isabel Neria-Gonzalez ◽  
Ricardo Aguilar-López
Keyword(s):  
Internal Model ◽  
Closed Loop ◽  
Open Loop ◽  
Internal Model Control ◽  
Control Law ◽  
Anaerobic Bioreactor ◽  
Model Control ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Proportional Controller

This work is related to the tracking of sulfate concentration trajectories in a continuous anaerobic bioreactor, where Desulfovibrio alaskensis is considered for different operation purposes. A new design of a class of nonlinear proportional control law with an adaptive gain was proposed. The proposed controller was applied to the mathematical bioreactor's model with the kinetics experimentally corroborated; this describes the dynamics of biomass, sulfate and sulfide concentrations. The open-loop stability conditions of the optimum set points and the corresponding closed-loop performances were analyzed. The proposed control law is able to track trajectories, despite sustained disturbances. An Internal Model Control (IMC) Proportional-Integral Controller was implemented for comparison purposes and the corresponding performances were illustrated via numerical experiments.

L1 Controller Design for a Flying Wing Unmmaned Aerial Vehicle

2013 ◽  
Vol 436 ◽  
pp. 18-24
Author(s):  
Adrian Mihail Stoica
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Output Feedback Control ◽  
Controller Synthesis ◽  
Control Law ◽  
Design Algorithm ◽  
Unmanned Air Vehicle ◽  
Air Vehicle ◽  
Aerial Vehicle

The paper presents a design method for the control system of a flying wing unmanned air vehicle (UAV). A modified loop-shaping type configuration is adopted for the controller synthesis such that maneuverability, robustness with respect to modeling uncertainty and sensitivity reduction performances are accomplished. A stabilizing output feedback control law minimizing the $L_1$ norm of the resulting system is determined. The proposed design algorithm is illustrated by a case study.

scholarly journals Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
S. Ganesh Kumar ◽  
S. Hosimin Thilagar
Keyword(s):  
Tracking Error ◽  
Output Feedback Control ◽  
Algebraic Approach ◽  
Dc Motor ◽  
Buck Converter ◽  
Load Torque ◽  
Constant Type ◽  
Reduced Order Observer ◽  
Passivity Based Control ◽  
Error Dynamics

Passivity based control of DC motor in sensorless configuration is proposed in this paper. Exact tracking error dynamics passive output feedback control is used for stabilizing the speed of Buck converter fed DC motor under various load torques such as constant type, fan type, propeller type, and unknown load torques. Under load conditions, sensorless online algebraic approach is proposed, and it is compared with sensorless reduced order observer approach. The former produces better response in estimating the load torque. Sensitivity analysis is also performed to select the appropriate control variables. Simulation and experimental results fully confirm the superiority of the proposed approach suggested in this paper.

scholarly journals Low-Cost Implementation of Passivity-Based Control and Estimation of Load Torque for a Luo Converter with Dynamic Load

Electronics ◽  
2020 ◽  
Vol 9 (11) ◽  
pp. 1914
Author(s):  
Ganesh Kumar Srinivasan ◽  
Hosimin Thilagar Srinivasan ◽  
Marco Rivera
Keyword(s):  
Low Cost ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Algebraic Approach ◽  
Dc Motor ◽  
Speed Sensor ◽  
Reduced Order Observer ◽  
Injection Methods ◽  
Passivity Based Control ◽  
Error Dynamics

In this paper, passivity-based control (PBC) of a Luo converter-fed DC motor is implemented and presented. In PBC, both exact tracking error dynamics passive output feedback control (ETEDPOF) and energy shaping and damping injection methods do not require a speed sensor. As ETEDPOF does not depend upon state computation, it is preferred in the proposed work for the speed control of a DC motor under no-load and loaded conditions. Under loaded conditions, the online algebraic approach in sensorless mode (SAA) is used for estimating different load torques applied on the DC motor such as: constant, frictional, fan-type, propeller-type and unknown load torques. Performance of SAA is tested with the reduced order observer in sensorless mode (SROO) approach and analyzed, and the results are presented to validate the low-cost implementation of PBC for a DC drive without a speed and torque sensor.

Proportional-Integral Controller Assisted by GPI Observer for Microalgal Continuous Culture

2020 ◽  
Author(s):  
Viyils Sangregorio-Soto ◽  
Claudia L. Garzon-Castro ◽  
Gianfranco Mazzanti ◽  
Manuel Figueredo ◽  
John A. Cortes-Romero
Keyword(s):  
Continuous Culture ◽  
Proportional Integral ◽  
Integral Controller ◽  
Proportional Integral Controller

scholarly journals A Robust Observer—Based Adaptive Control of Second—Order Systems with Input Saturation via Dead-Zone Lyapunov Functions

Computation ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 82
Author(s):  
Alejandro Rincón ◽  
Gloria M. Restrepo ◽  
Fredy E. Hoyos
Keyword(s):  
Lyapunov Functions ◽  
Dead Zone ◽  
Tracking Error ◽  
Input Saturation ◽  
Chemical Reactor ◽  
Second Order ◽  
Control Law ◽  
Compact Set ◽  
State Variables ◽  
Robust Observer

In this study, a novel robust observer-based adaptive controller was formulated for systems represented by second-order input–output dynamics with unknown second state, and it was applied to concentration tracking in a chemical reactor. By using dead-zone Lyapunov functions and adaptive backstepping method, an improved control law was derived, exhibiting faster response to changes in the output tracking error while avoiding input chattering and providing robustness to uncertain model terms. Moreover, a state observer was formulated for estimating the unknown state. The main contributions with respect to closely related designs are (i) the control law, the update law and the observer equations involve no discontinuous signals; (ii) it is guaranteed that the developed controller leads to the convergence of the tracking error to a compact set whose width is user-defined, and it does not depend on upper bounds of model terms, state variables or disturbances; and (iii) the control law exhibits a fast response to changes in the tracking error, whereas the control effort can be reduced through the controller parameters. Finally, the effectiveness of the developed controller is illustrated by the simulation of concentration tracking in a stirred chemical reactor.

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