scholarly journals Design and Comparative Study of Advanced Adaptive Control Schemes for Position Control of Electronic Throttle Valve

Information ◽  
2019 ◽  
Vol 10 (2) ◽  
pp. 65 ◽  
Author(s):  
Amjad Humaidi ◽  
Akram Hameed
Keyword(s):  
Adaptive Control ◽  
Position Control ◽  
Sliding Mode ◽  
Angular Position ◽  
Estimation Errors ◽  
Electronic Throttle ◽  
Control Schemes ◽  
Backstepping Controller ◽  
Matlab Package ◽  
The Stability

This paper investigates the performance of two different adaptive control schemes for controlling the angular position of an electronic throttle (ET) plate. The adaptive backstepping controller and adaptive sliding mode backstepping controller are the controllers under consideration. The control design based on these adaptive controllers is firstly addressed and the stability analysis of each controller has been presented and the convergence of both position and estimation errors for both controllers have been proved. A comparison study of the performance of both controllers has been conducted in terms of system transient characteristics and the behavior of their associated adaptive gain. The simulation has been implemented within the environment of the MATLAB package.

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

2021 ◽  
pp. 095441002110136
Author(s):  
Nasim Ullah ◽  
Irfan Sami ◽  
Wang Shaoping ◽  
Hamid Mukhtar ◽  
Xingjian Wang ◽  
...  
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Computationally Efficient ◽  
Control Scheme ◽  
Control Schemes ◽  
Adaptive Laws ◽  
Unknown Disturbances ◽  
The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

scholarly journals Sliding Mode Observer-based Control of Teleoperation System With Uncertain Dynamics and Kinematics

2021 ◽  
Author(s):  
Jianing Zhang ◽  
Fujie Wang ◽  
Guilin Wen
Keyword(s):  
Sliding Mode ◽  
Time Estimation ◽  
Joint Space ◽  
Estimation Errors ◽  
Uncertain Dynamics ◽  
Control Framework ◽  
End Effectors ◽  
Sliding Mode Observers ◽  
The Stability ◽  
Velocity Tracking

Abstract This paper concentrates on the control issue of nonlinear teleoperators in the presence of uncertain dynamics and kinematics. An observer-based control framework is introduced to compensate for the unfavorable effects arising from the uncertainties. The employment of the proposed sliding mode observers provide control system with the ability of finite-time estimation errors convergence, upon which, it is demonstrated that the bilateral teleoperators are stable and both of position and velocity tracking can be achieved with uncertain dynamics in joint space. Due to the practical requirement of driving the end-effectors to perform specific tasks, the control law which can ensure position coordination with uncertain dynamics and kinematics in task space is subsequently developed. The Lyapunov method is applied to demonstrate the stability of the closed-loop system. Simulation results are provided to testify the performance of the suggested algorithm.

scholarly journals Adaptive Vibration Control of Piezoactuated Euler-Bernoulli Beams Using Infinite-Dimensional Lyapunov Method and High-Order Sliding-Mode Differentiation

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Teerawat Sangpet ◽  
Suwat Kuntanapreeda ◽  
Rüdiger Schmidt
Keyword(s):  
Adaptive Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
High Order ◽  
Control Law ◽  
Flexible Beams ◽  
Infinite Dimensional ◽  
Infinite Dimensional Systems ◽  
Sensor Configuration ◽  
The Stability

This paper presents an adaptive control scheme to suppress vibration of flexible beams using a collocated piezoelectric actuator-sensor configuration. A governing equation of the beams is modelled by a partial differential equation based on Euler-Bernoulli theory. Thus, the beams are infinite-dimensional systems. Whereas conventional control design techniques for infinite-dimensional systems make use of approximated finite-dimensional models, the present adaptive control law is derived based on the infinite-dimensional Lyapunov method, without using any approximated finite-dimension model. Thus, the stability of the control system is guaranteed for all vibration modes. The implementation of the control law requires a derivative of the sensor output for feedback. A high-order sliding mode differentiation technique is used to estimate the derivative. The technique features robust exact differentiation with finite-time convergence. Numerical simulation and experimental results illustrate the effectiveness of the controller.

On the Suppression of Flow-Induced Vibration With a Simple Control Algorithm

2001 ◽  
Author(s):  
Pablo Carbonell ◽  
Xiaodong Wang ◽  
Zhong-Ping Jiang
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Integration Time ◽  
Practical Implementation ◽  
Flow Induced Vibration ◽  
Time Step ◽  
Advantages And Disadvantages ◽  
Control Schemes

Abstract We present a study on the suppression of flow-induced vibration using a simple control algorithm with an assumption that the disturbance as well as the system parameters are bounded variables. By introducing three different control signals, we explore three schemes, namely, robust control, sliding mode, and adaptive control. The control schemes are implemented numerically with a few illustrative examples, which includes a bounded chaotic system. It is demonstrated that all three schemes can be effectively used for fluid-structure interaction systems. In addition, with these numerical examples, we also illustrate various advantages and disadvantages of different control schemes. In general, robust control and adaptive control schemes are (globally) ultimately uniformly bounded, whereas sliding mode scheme is (globally) asymptotically stable. Thus, as we further reduce the integration time step, the residual of robust control and adaptive control schemes will approach to a bounded (finite) asymptotic function, and the residual of sliding mode scheme will approach to zero. Furthermore, due to self-tuning, the gain of adaptive control scheme is relatively small, yet, the computation cost is higher because of the excessively small time step requirement for the numerical integration. With respect to sliding mode scheme, the control signal is discontinuous due to the sign function and consequently, the practical implementation has fast switching fluctuations (chattering).

scholarly journals Neural network–based terminal sliding mode applied to position/force adaptive control for constrained robotic manipulators

2018 ◽  
Vol 10 (6) ◽  
pp. 168781401878128 ◽  
Author(s):  
Chongzhen Cao ◽  
Fengqin Wang ◽  
Qianlei Cao ◽  
Hui Sun ◽  
Wei Xu ◽  
...  
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Position Control ◽  
Simulation Analysis ◽  
Sliding Mode ◽  
Control Strategies ◽  
Robotic Manipulators ◽  
Dynamics Simulation ◽  
Position Tracking ◽  
Terminal Sliding Mode

This study considers the control problem of constrained robotic manipulators with dynamic uncertainties. A new force/position control strategy is proposed based upon terminal sliding mode and neural network. The terminal sliding mode combines position tracking with velocity tracking, and the neural network estimates unknown dynamics. Then, an adaptive control law is utilized to ensure finite-time convergent performance of position tracking and boundedness of contacting force tracking. Compared with existing force/position control strategies, the proposed strategy ensures the convergent performance without nominal model of the system dynamics. Simulation analysis verifies that the proposed strategy is effective.

Comparison of Adaptive and Robust Controllers for Fully-Constrained and Redundant Planar Cable Robots

2014 ◽  
Author(s):  
Sergio J. Torres-Mendez ◽  
Gokhan Gungor ◽  
Baris Fidan ◽  
Amir Khajepour
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
Uncertain Parameters ◽  
Input Output ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
Control Schemes ◽  
Novel Method ◽  
Simulation Results

This work deals with the design and comparison of two adaptive position control schemes with a classical PID controller for fully constrained and redundant planar robots. First, a novel method based on inclusion of virtual cables facilitates the linear separation of the uncertain parameters from the input-output signals. Then, two Lyapunov based adaptive controllers based on the sliding mode and PD schemes are designed to compensate for the structure matrix uncertainties, which result from errors in the anchor point locations. Finally, the adaptive controllers are evaluated and compared with a classical PID controller through simulations for a desired 2D singularity-free pose of the mobile platform. The simulation results have shown that the adaptive PD control scheme has the best performance for both fully constrained and redundant cases.

Constant Turning Force Adaptive Control Via Sliding Mode Control Design

1990 ◽  
Vol 112 (2) ◽  
pp. 308-312 ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Bor-Sen Chen
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Open Loop ◽  
Forgetting Factor ◽  
Mode Control ◽  
Variable Forgetting Factor ◽  
The Stability ◽  
Turning System ◽  
Time Form

In the constant turning force adaptive control (CTFAC) system, the open-loop gain will vary and the stability cannot be assured when a cutting tool cuts a workpiece at various cutting depths or spindle operates in different speeds. In this paper, the spirit of sliding mode control is extended into discrete-time form to combine with parameter estimation having variable forgetting factor to stabilize the turning system against the variable gain and unmodeled dynamics, such as nonlinear perturbations, inaccurate measurements etc.

Robust adaptive position control of automotive electronic throttle valve using PID-type sliding mode technique

2016 ◽  
Vol 85 (2) ◽  
pp. 1331-1344 ◽  
Author(s):  
Hai Wang ◽  
Linfeng Liu ◽  
Ping He ◽  
Ming Yu ◽  
Manh Tuan Do ◽  
...  
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Electronic Throttle ◽  
Automotive Electronic ◽  
Throttle Valve ◽  
Robust Adaptive ◽  
Mode Technique ◽  
Sliding Mode Technique
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