scholarly journals Perturbation Observer-Based Robust Control Using a Multiple Sliding Surfaces for Nonlinear Systems with Influences of Matched and Unmatched Uncertainties

Mathematics ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 1371 ◽  
Author(s):  
Ha Le Nhu Ngoc Thanh ◽  
Mai The Vu ◽  
Nguyen Xuan Mung ◽  
Ngoc Phi Nguyen ◽  
Nguyen Thanh Phuong
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Lyapunov Theory ◽  
Loop Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Unmatched Uncertainties ◽  
Matched And Unmatched Uncertainties

This paper presents a lumped perturbation observer-based robust control method using an extended multiple sliding surface for a system with matched and unmatched uncertainties. The fundamental methodology is to apply the multiple surfaces to approximate the unknown lumped perturbations simultaneously influencing on a nonlinear single input–single output (SISO) system. Subsequently, a robust controller, based on the proposed multi-surface and the approximated values, is designed to highly improve the control performance of the system. A general stability of the lumped perturbation observer and closed-loop control system is obtained through the Lyapunov theory. Results of a numerical simulation of an illustrative example demonstrate the soundness of the proposed algorithm.

scholarly journals Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

Electronics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 657 ◽  
Author(s):  
Uyen Tu Thi Hoang ◽  
Hai Xuan Le ◽  
Nguyen Huu Thai ◽  
Hung Van Pham ◽  
Linh Nguyen
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Control Performance ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Mass Uncertainty ◽  
Payload Mass

The paper addresses the problem of effectively and robustly controlling a 3D overhead crane under the payload mass uncertainty, where the control performance is shown to be consistent. It is proposed to employ the sliding mode control technique to design the closed-loop controller due to its robustness, regardless of the uncertainties and nonlinearities of the under-actuated crane system. The radial basis function neural network has been exploited to construct an adaptive mechanism for estimating the unknown dynamics. More importantly, the adaptation methods have been derived from the Lyapunov theory to not only guarantee stability of the closed-loop control system, but also approximate the unknown and uncertain payload mass and weight matrix, which maintains the consistency of the control performance, although the cargo mass can be varied. Furthermore, the results obtained by implementing the proposed algorithm in the simulations show the effectiveness of the proposed approach and the consistency of the control performance, although the payload mass is uncertain.

The Fuzzy Rule Based the BDFM Torque Control

2012 ◽  
Vol 203 ◽  
pp. 226-230
Author(s):  
Peng Chen ◽  
Jian Yang Zhai ◽  
Zheng Zhu
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Direct Torque Control ◽  
Fuzzy Rule ◽  
Torque Control ◽  
Closed Loop Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Doubly Fed

Combining with some fuzzy of the direct torque control and the fuzzy control which is often used in the traditional AC motor control,we put forward a direct torque control theory based on the fuzzy rule. The brushless doubly-fed machine(BDFM) closed-loop control system with the direct torque control based on the fuzzy rule is simulated by using of the Matlab/Simulink software, and the simulation results show that the closed-loop control method is correct and effective.

Robust control for hypersonic vehicles with parametric and unstructured uncertainties

2017 ◽  
Vol 232 (13) ◽  
pp. 2369-2380 ◽  
Author(s):  
Hao Liu ◽  
Deyuan Liu ◽  
Jianxiang Xi ◽  
Yao Yu
Keyword(s):  
Robust Control ◽  
Closed Loop ◽  
Hypersonic Vehicles ◽  
Frequency Range ◽  
Parameter Uncertainties ◽  
Loop Control ◽  
Control Approach ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Multiple Uncertainties

A robust flight controller is proposed for the longitudinal model of generic hypersonic vehicles, whose dynamics involves nonlinearities, parameter uncertainties, and unstructured uncertainties. The proposed longitudinal controller is developed based on the standard [Formula: see text] theory and the robust compensating approach. The robust compensating approach is introduced to reduce the influences of multiple uncertainties and nonlinearities on the closed-loop control system. Compared to the [Formula: see text] control theory, these influences in the whole frequency range can be restrained. Theoretical analysis and numerical simulation results are presented to illustrate the tracking performance properties of the designed robust control approach.

The Direct Torque Control Research of Permanent Magnet Linear Synchronous Motor

2011 ◽  
Vol 143-144 ◽  
pp. 350-354
Author(s):  
Jun Zhu ◽  
Xu Dong Wang ◽  
Bao Yu Xu ◽  
Hai Chao Feng
Keyword(s):  
Simulation Experiment ◽  
Control Method ◽  
Dynamic Performance ◽  
Direct Torque Control ◽  
Torque Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Hysteresis Controller ◽  
Control Research ◽  
Loop Control System

In order to improve the dynamic servo performance of PMLSM, a classical direct torque control (DTC) scheme based on bang-bang control is proposed in the paper. The proposed control method uses the bang-bang hysteresis controller formed a dual-closed loop control system, it contains torque loop and flux loop. The DTC control model was established and the simulation experiment was made. The simulation experiment results show that the DTC can improve the dynamic performance of PMLSM. It can reduce the ripples of speed and torque, so that it can provide more precision and accuracy servo performance.

Aspects of the Energy Consumption of a Digital Hydraulic Power Management System Supplying a Digital and Proportional Valve Controlled Multi Actuator System

2014 ◽  
Author(s):  
Matti Karvonen ◽  
Mikko Heikkilä ◽  
Seppo Tikkanen ◽  
Matti Linjama ◽  
Kalevi Huhtala
Keyword(s):  
Energy Consumption ◽  
Power Management ◽  
Management System ◽  
Control Method ◽  
Inverse Kinematic ◽  
Hydraulic Power ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Power Management System

Hydraulic motion control is traditionally done with servo or proportional valves. A digital hydraulic valve is based on arrays of simple on/off valves. Independent metering control is possible with digital valves since control notches are not linked together. With commonly used commercial proportional valves constant opening ratios are used. In this paper, a small mobile boom is studied. The lift and tilt cylinders can be controlled with proportional or digital valves. Closed loop control system is based on a robust control method of a multi actuator boom and also inverse kinematic equations are required in coordinate drive. The supply system consists of a Digital Hydraulic Power Management System (DHPMS) which is capable of supplying separate supply pressures for both actuator supply lines. Measurements are done, and one vs. two supply pressures and digital vs. proportional valves are compared. Two different test trajectories and two different load masses are used. Analysis focuses on the energy consumption of different test cases and sources of losses are inspected. Results show that energy consumption can be reduced up to 44%.

scholarly journals Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shubo Wang ◽  
Haisheng Yu ◽  
Xuehui Gao ◽  
Na Wang
Keyword(s):  
Control Method ◽  
Design Procedure ◽  
Lyapunov Stability Theory ◽  
Friction Compensation ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Full State ◽  
Loop Control System ◽  
The Stability ◽  
The Given

This paper proposes an adaptive barrier controller for servomechanisms with friction compensation. A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented neural network (NN) to account for the unknown nonlinearities. Moreover, a barrier Lyapunov function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full-state constraints are within the given boundary. The stability of the closed-loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.

Attitude Control of a Quadrocopter Using Adaptive Control Technique

2014 ◽  
Vol 598 ◽  
pp. 551-556
Author(s):  
R. Ibarra ◽  
S. Florida ◽  
W. Rodríguez ◽  
G. Romero ◽  
D. Lara ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Attitude Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Aerial Vehicle ◽  
The Stability ◽  
Model Reference Adaptive

This paper presents an application of the MRAC (Model Reference Adaptive Control) techniques to achieve the attitude stabilization in an unmanned aerial vehicle (UAV) type quadrotor when there exists disturbances and/or uncertainties in the parameters due to changes in the payload, variations in battery voltage during flight, etc. This is achieved by performing an online adaptation of the controller parameters, which are obtained by showing the stability property of the closed loop control system using Lyapunov theory. Simulation results using Matlab-Simulink platform are presented to demonstrate the convergence of the controller parameters.

Double Closed-Loop Control System of Bi-Direction Current Source Inverter

2011 ◽  
Vol 204-210 ◽  
pp. 699-703
Author(s):  
Wei Kang ◽  
Li Xia Zhang ◽  
Zhen Lei
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Control Method ◽  
Current Source ◽  
Battery Pack ◽  
Closed Loop Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Coordinate Conversion

The double closed-loop control system of current source SPWM inverter (CSI) is designed to meet the need of battery pack testing system. The battery pack has tiny inner resistance, back electromotive force and it acted as a comparative load which made the control system hard to design. The control system aimed at the specialty of the battery pack load and put forward a loop-locked control method based on dq coordinate conversion of CSI. Typical I and II control system is adopted to get a better performance. It increases the transform efficiency by SPWM and gets high power factor and high dynamic response quality by dq coordinate conversion. Simulations and tests proved the correctness and feasibility of the control system.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

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