scholarly journals Adaptive State Feedback Control of Electromagnetic Levitation System for Uncertain Ball Mass

2011 ◽  
Vol 2-3 ◽  
pp. 1105-1110
Author(s):  
Gyu Man Park ◽  
Won Jae Hwang ◽  
Ho Lim Choi
Keyword(s):  
Output Feedback ◽  
Parameter Uncertainty ◽  
Feedback Linearization ◽  
State Feedback ◽  
Electromagnetic Levitation ◽  
Feedback Controller ◽  
State Feedback Control ◽  
State Feedback Controller ◽  
Levitation System ◽  
Ball Mass

For the last several decades, many results have been presented for controlling nonlinear systems that have parameter uncertainty. In this paper, we propose an adaptive state feedback controller based on input-output feedback linearization for electromagnetic levitation system(EMS) with unknown ball mass. We analytically show the regulation of the controlled electromagnetic levitation system by the proposed adaptive state feedback controller. We show the experiment results of electromagnetic levitation system and where there is uncertain ball mass.

scholarly journals Long-latency reflexes for inter-effector coordination reflect a continuous state feedback controller

2018 ◽  
Vol 120 (5) ◽  
pp. 2466-2483 ◽  
Author(s):  
Frederic Crevecoeur ◽  
Isaac Kurtzer
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Comprehensive Treatment ◽  
State Feedback Controller ◽  
Long Latency ◽  
Continuous State ◽  
Long Latency Reflex ◽  
Long Latency Reflexes

Successful performance in many everyday tasks requires compensating unexpected mechanical disturbance to our limbs and body. The long-latency reflex plays an important role in this process because it is the fastest response to integrate sensory information across several effectors, like when linking the elbow and shoulder or the arm and body. Despite the dozens of studies on inter-effector long-latency reflexes, there has not been a comprehensive treatment of how these reveal the basic control organization that sets constraints on any candidate model of neural feedback control such as optimal feedback control. We considered three contrasting ways that controllers can be organized: multiple independent controllers vs. a multiple-input multiple-output (MIMO) controller, a continuous feedback controller vs. an intermittent feedback controller, and a direct MIMO controller vs. a state feedback controller. Following a primer on control theory and review of the relevant evidence, we conclude that continuous state feedback control best describes the organization of inter-effector coordination by the long-latency reflex.

scholarly journals Robust Mixed H2/H∞ State Feedback Controller Development for Uncertain Automobile Suspensions with Input Delay

Processes ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 359
Author(s):  
Nan Liu ◽  
Hui Pang ◽  
Rui Yao
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Actuator Saturation ◽  
Output Feedback Control ◽  
Active Suspension ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Approach ◽  
State Feedback Controller

In order to achieve better dynamics performances of a class of automobile active suspensions with the model uncertainties and input delays, this paper proposes a generalized robust linear H2/H∞ state feedback control approach. First, the mathematical model of a half-automobile active suspension is established. In this model, the H∞ norm of body acceleration is determined as the performance index of the designed controller, and the hard constraints of suspension dynamic deflection, tire dynamic load and actuator saturation are selected as the generalized H2 performance output index of the designed controller to satisfy the suspension safety requirements. Second, a generalized H2/H∞ guaranteed cost state-feedback controller is developed in terms of Lyapunov stability theory. In addition, the Cone Complementarity Linearization (CCL) algorithm is employed to convert the generalized H2/H∞ output-feedback control problem into a finite convex optimization problem (COP) in a linear matrix inequality framework. Finally, a numerical simulation case of this half-automobile active suspension is presented to illustrate the effectiveness of the proposed controller in frequency-domain and time-domain.

scholarly journals A Study of Integrally Augmented State Feedback Control for an Active Magnetic Bearing Supported Rotor System

1997 ◽  
Author(s):  
George T. Flowers ◽  
Gyorgy Szasz ◽  
Victor S. Trent ◽  
Michael E. Greene
Keyword(s):  
State Feedback ◽  
Magnetic Bearing ◽  
Rotor System ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Pole Placement ◽  
State Feedback Controller ◽  
System Type ◽  
Effective Manner ◽  
Augmented State

State feedback controller designs allow for pole-placement in an effective manner, but reduction of static offset is difficult. On the other hand, classical control methodology allows for the increase of system type and the elimination of static offset. An integrally augmented state feedback controller provides the benefits of standard feedback designs while allowing for the elimination of static offsets (through the increase of system type). Static offset is a particular problem with magnetic bearing supported rotor systems, in that gravitational effects, current biasing, and operational loading tend to exacerbate this problem. In order to assess the effectiveness of this technique, an integrally augmented state feedback controller is developed, implemented, and tested for a magnetic bearing supported rotor system. Results for several selected configurations are presented and compared. Some conclusions and recommendations concerning the effectiveness of integrally augmented state feedback controller designs are presented.

scholarly journals Memory State Feedback Control for Time-Varying Delay Switched Fuzzy Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Le Zhang ◽  
Meiyu Jia ◽  
Hong Yang ◽  
Gang Wu
Keyword(s):  
Fuzzy Systems ◽  
State Feedback ◽  
Feedback Controller ◽  
State Feedback Control ◽  
Time Varying ◽  
Memory State ◽  
State Feedback Controller ◽  
Time Varying Delay ◽  
Memory State Feedback ◽  
Varying Delay

Consider the problem of memoryless state feedback controller for time-delay system, which cannot consider both the memoryless and the memory items in the system. Therefore, the memoryless state feedback controller has certain limitations and is more conservative. This paper addresses the memory state feedback control for the time-varying delay switched fuzzy systems based on T-S fuzzy model to overcome the problem discussed above. The state vector and input of the time-varying delay systems contain unknown time-varying delay with known bounds. The designed controller whose parameters are solvable can introduce past state information and reduce the system conservativeness. The more general Lyapunov-Krasovskii functional is selected and the switching law is designed in order to analyze the open-loop system stability, and the memory state feedback controller is designed for the closed-loop system and the criterion for its asymptotic stability. Discuss the solvability of the above two criteria. Finally, a numerical example is given. The simulation results show that the proposed method is more feasible and effective.

PSO-Based State Feedback Control of Flexible Spacecraft for Attitude Tracking and Vibration Suppression

2012 ◽  
Vol 229-231 ◽  
pp. 2161-2165
Author(s):  
Ya Nan Yu ◽  
Xiu Yun Meng ◽  
Li Chao Ma
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Vibration Suppression ◽  
Pso Algorithm ◽  
Feedback Controller ◽  
Flexible Spacecraft ◽  
State Feedback Control ◽  
State Variables ◽  
State Feedback Controller ◽  
Attitude Tracking

PD state-feedback controller has been adopted in many spacecraft for attitude tracking and presents good performance. For flexible spacecraft, the controller can be designed with a term which takes into account the flexible dynamics. However, duo to nonlinearity and coupling, how to determine state-feedback control parameters which ensure fast attitude tracking and significant vibration suppression must be considered. In this paper, the dynamics model of spacecraft with flexible appendages is derived with the hybrid coordinate method and the full state feedback controller originated from the PD control algorithm is designed. A method of estimating the flexible spacecraft's controller parameters based on the particle swarm optimization (PSO) algorithm is presented. Taking the PD controller parameters as optimized variables, optimal control state is defined as the linear weighted sum of response error of all state variables is smallest with the limited actuator output moment. Simulation results show that the optimized controller obtained by PSO algorithm makes attitude of spacecraft converge quickly and elastic vibration suppressed effectively.

scholarly journals LQR state feedback controller with precompensator for magnetic levitation system

2021 ◽  
Vol 2111 (1) ◽  
pp. 012004
Author(s):  
A Winursito ◽  
G N P Pratama
Keyword(s):  
Steady State ◽  
High Speed ◽  
State Feedback ◽  
Magnetic Levitation ◽  
Feedback Controller ◽  
Steel Ball ◽  
State Feedback Controller ◽  
Wide Range ◽  
Levitation System ◽  
Magnetic Levitation System

Abstract Magnetic levitation system (MLS) is a nonlinear system that attracts the attention of many researchers, especially control engineers. It has wide range of application such as robotics, high-speed transportation, and many more. Unfortunately, it is not a simple task to control it. Here, we utilize state feedback controller with Linear-Quadratic Regulator (LQR) to regulate the position of a steel-ball in MLS. In addition, we also introduce the precompensator to nullify the steady-state errors. The linearized model, controller, and precompensator are simulated using Matlab. The results and simulation verify that the state feedback controller and precompensator succeed to stabilize the position of steel-ball at the equilibrium for 0.1766 seconds and no steady-state errors.

scholarly journals Design of an adaptive state feedback controller for a magnetic levitation system

2020 ◽  
Vol 10 (5) ◽  
pp. 4782
Author(s):  
Omar Waleed Abdulwahhab
Keyword(s):  
Equilibrium Point ◽  
State Feedback ◽  
Magnetic Levitation ◽  
The State ◽  
Feedback Controller ◽  
Pole Placement ◽  
Operating Point ◽  
State Feedback Controller ◽  
Levitation System ◽  
Magnetic Levitation System

This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.

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