Hybrid Control for Seismological Nonlinear Structures on Liapunov’s Theory

2012 ◽  
Vol 166-169 ◽  
pp. 1237-1240
Author(s):  
Ying Pan ◽  
Tong Zhao
Keyword(s):  
Control Algorithm ◽  
Base Isolation ◽  
Control Method ◽  
Hybrid Control ◽  
Liapunov Function ◽  
Control Law ◽  
Nonlinear Structures ◽  
Non Linear ◽  
Restoring Forces ◽  
Residual Deformations

In this paper, the hybrid control method of earthquake excited high-raised buildings is put forword. The building is modeled as a shear-wall type structure with non-linear hysteretic restoring forces after the structure enters the period of nonlinear and plasticity. A passive base-isolation is combined with actuators applied at the basement of the structure. A candidate for Liapunov function is found out based on the theory of energy. A non-linear control law is designed following the theory of Liapunov, since small residual deformations have to be tolerated due to inelastic energy dissipation, asymptotic stability will not be required, but only stability in the sense of Liapunov has to be guaranteed. Computer simulations demonstrate the efficiency of the proposed control algorithm.

scholarly journals Vibration Reduction of the Nonlinearly Tufted Carpet Yarn by a Modified Sliding Mode Control Method

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Shuang Huang ◽  
Xin Wu ◽  
Peixing Li
Keyword(s):  
Sliding Mode Control ◽  
High Frequency ◽  
Control Algorithm ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Control Force ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The yarn vibration causes the yarn tension value to fluctuate, causing a change in the amount of yarn feed, thus causing a deviation of the carpet pile height from the predetermined value. To solve this problem, the sliding mode control algorithm is used to design the sliding mode function and the sliding mode control law. And four variables in the yarn vibration system are controlled by the MATLAB software. For solving the chattering problem of the control law, the sliding mode control law is improved. The fuzzy sliding mode control algorithm based on the quasisliding mode is adopted. The results show that the sliding mode control algorithm is effective, but the sliding mode control force needs to be switched at high frequency and there is severe chattering. The fuzzy sliding mode control algorithm based on quasisliding mode is adopted to achieve better control effect with a smaller force. In addition, the control force does not have high-frequency switching, and the change is relatively stable, which reduces the chattering phenomenon of sliding mode control.

Research of De-Couple Control System for near Space Vehicle with High Maneuver and Couple

2011 ◽  
Vol 128-129 ◽  
pp. 979-984
Author(s):  
Shao Bo Ni ◽  
Wei Jun Hu ◽  
Song Xiong
Keyword(s):  
Control Method ◽  
Space Vehicle ◽  
Parameter Method ◽  
Control Law ◽  
Time Varying ◽  
Information Feedback ◽  
Control Loops ◽  
Near Space ◽  
Non Linear ◽  
Result Show

A de-couple control method with information feedback from other control channel and a method with double control loops were present for the hypersonic vehicle with non-linear, couple and lateral maneuver. The whole controller was divided into two parts: the computation of actuator which deal with control couple and design of control law which solve the problem of movement and aerodynamic couple. The time-varying controller parameter method and robust control law were present to solve the problem of quick time-varying model parameter and non-linear. Finally these two methods were analyzed contrastively; the simulation result show that these two methods present above can achieve the quick dynamic and high precise track of command. But the latter was better.

scholarly journals Dynamic backstepping control for pure-feedback non-linear systems

2019 ◽  
Vol 37 (2) ◽  
pp. 674-697
Author(s):  
Sheng Zhang ◽  
En-Mi Yong ◽  
Yu Zhou ◽  
Wei-Qi Qian
Keyword(s):  
Linear Systems ◽  
Algebraic Equation ◽  
Control Method ◽  
Backstepping Control ◽  
Free Form ◽  
Control Law ◽  
Backstepping Method ◽  
Feedback Form ◽  
Non Linear ◽  
Non Linear Systems

Abstract A dynamic backstepping control method is proposed for non-linear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit non-linear algebraic equation. This method treats the implicit algebraic equation directly via a dynamic way, by augmenting the (virtual) controls as states during each recursive step. Compared with the traditional backstepping method, one more Lyapunov design is executed in each step. As new dynamics are included in the design, the resulting control law is in the dynamic feedback form. Under appropriate assumptions, the proposed control scheme achieves the uniformly asymptotic stability and the closed-loop system is local input-to-state stable for various disturbance. Moreover, the control law may be simplified to the inverse-free form by setting large gains, which will alleviate the problem of `explosion of terms’. The effectiveness of this method is illustrated by the stabilization and tracking numerical examples.

Hybrid adaptive impedance-leader-follower control for multi-arm coordination manipulators

2016 ◽  
Vol 43 (1) ◽  
pp. 112-120 ◽  
Author(s):  
Xiangyu Liu ◽  
Ping Zhang ◽  
Guanglong Du
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
Hybrid Control ◽  
Impedance Control ◽  
Content Type ◽  
Control Framework ◽  
Coordination System ◽  
Error Accumulation ◽  
Arm Coordination ◽  
Multiple Manipulators

Purpose – The purpose of this paper is to provide a hybrid adaptive impedance-leader-follower control algorithm for multi-arm coordination manipulators, which is significant for dealing with the problems of kinematics inconsistency and error accumulation of interactive force in multi-arm system. Design/methodology/approach – This paper utilized a motion mapping theory in Cartesian space to establish a centralized dynamic leader-follower control algorithm which helped to reduce the possibility of kinematics inconsistency for multiple manipulators. A virtual linear spring model (VLSM) was presented based on a recognition approach of characteristic marker. This paper accomplished an adaptive impedance control algorithm based on the VLSM, which took into account the non-rigid contact characteristic. Experimentally demonstrated results showed the proposed algorithm guarantees that the motion and interactive forces asymptotically converge to the prescribed values. Findings – The hybrid control method improves the accuracy and reliability of multi-arm coordination system, which presents a new control framework for multiple manipulators. Practical implications – This algorithm has significant commercial applications, as a means of controlling multi-arm coordination manipulators that could serve to handle large objects and assemble complicated objects in industrial and hazardous environment. Originality/value – This work presented a new control framework for multiple coordination manipulators, which can ensure consistent kinematics and reduce the influence of error accumulation, and thus can improve the accuracy and reliability of multi-arm coordination system.

scholarly journals Neural Network Control for the Probe Landing Based on Proportional Integral Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Yuanchun Li ◽  
Tianhao Ma ◽  
Bo Zhao
Keyword(s):  
Neural Network ◽  
Control Algorithm ◽  
Control Method ◽  
Landing Site ◽  
Network Control ◽  
Control Law ◽  
Neural Network Control ◽  
Control Approach ◽  
Proportional Integral ◽  
The Neural Network

For the probe descending and landing safely, a neural network control method based on proportional integral observer (PIO) is proposed. First, the dynamics equation of the probe under the landing site coordinate system is deduced and the nominal trajectory meeting the constraints in advance on three axes is preplanned. Then the PIO designed by using LMI technique is employed in the control law to compensate the effect of the disturbance. At last, the neural network control algorithm is used to guarantee the double zero control of the probe and ensure the probe can land safely. An illustrative design example is employed to demonstrate the effectiveness of the proposed control approach.

Non-Linear Path-Following Control of Micro-AUV

2014 ◽  
Vol 1006-1007 ◽  
pp. 599-603
Author(s):  
Xing Ji ◽  
Lei Zhang ◽  
Jian Cao ◽  
Shan Ma
Keyword(s):  
Control Method ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Linear Feedback ◽  
Control Law ◽  
Linear Feedback Control ◽  
Path Following Control ◽  
Virtual Target ◽  
Non Linear ◽  
Following Error

A novel path-following control method of under-actuated AUV is proposed in this paper. Under the Serret-Frenet coordinate system, dynamics equations of path-following error were established based on virtual target AUV. And then combined with dynamics equations of AUV, controller was designed based on Lyapunov stability theory and backstepping technique. Simulation results showed that path-following error could converge to zero rapidly by using the proposed non-linear feedback control law, to make the AUV navigate along the referenced path.

scholarly journals A new experimental ground vehicle with hybrid control and hybrid vision sensor

2010 ◽  
Vol 8 (03) ◽  
Author(s):  
J. M. Rendón-Mancha ◽  
G. Sanahuja ◽  
P. Castillo ◽  
R. Lozano
Keyword(s):  
Control Algorithm ◽  
Hybrid Control ◽  
Vision System ◽  
Sampling Period ◽  
Control Law ◽  
Continuous Control ◽  
Ground Vehicle ◽  
The Stability ◽  
Real Time Application ◽  
Made In

This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to a ground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtain the optimal sampling period to apply the controller in real experiences. The stability analysis was made in discrete time. The experimental platform is composed of a remote control toy car and a vision system. The vision system is built using a simple webcam and a diode laser. This system is fast, accurate, inexpensive and easy to implement. Simulations and experiments show the stability and robustness of the closed-loop system. The proposed control law performance is compared with a linear control algorithm.

Autonomous Cooperative Control for a Class of Linear System Based on Directed Graph

2013 ◽  
Vol 710 ◽  
pp. 558-562
Author(s):  
Zhao Ming Li ◽  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Linear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

This paper proposes an autonomous cooperative control method for a class of linear system based on the directed graph, and the proof is given. The directed graph is used to describe the topology relationship among individuals in the system. The difference between desired and actual value of the system state is defined as error, and by exchanging error information among individuals, all individual states are synchronized up to the desired value. The control algorithm proposed in this paper has high robustness. Finally, the numerical simulation results show the correctness of the control law, and by configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Active Vibration Suppression Control Algorithm in Gyroscopic System

2010 ◽  
Vol 139-141 ◽  
pp. 2490-2493
Author(s):  
Zhi Huan Zhang ◽  
Sultan A.Q. Siddiqui
Keyword(s):  
Strong Coupling ◽  
Control Algorithm ◽  
Natural Frequencies ◽  
Vibration Suppression ◽  
Control Method ◽  
Controller Design ◽  
Gyroscopic System ◽  
Linear Dynamics ◽  
Linear Coupling ◽  
Non Linear

A new control method for suppressing vibration in a rotating beam system of a helicopter has been presented. The method used a non-linear dynamics equation to compute actual natural frequencies using FFT, not based on nominal natural frequencies of linear dynamics. A design based on linear coupling may not take account of the effect of non-linear coupling in the system, so a conceptual controller design has also been presented, and a detailed control algorithm has been developed. In fact, this is a non-linear dynamics optimization problem. In a gyroscopic system, tuning of the flywheel allows a commensurable relationship to be established between the natural frequencies of the system, resulting in a strong coupling between the vibrating modes. Having established a strong coupling within the system, damping was introduced in the flywheel via an actuator, resulting in rapid vibration suppression. Numerical simulation demonstrated the efficiency of the modification.

scholarly journals ROBUST CONCENTRATION CONTROL OF TARGET PRODUCT IN CHEMICAL REACTOR

2018 ◽  
Vol 61 (12) ◽  
pp. 129-136 ◽  
Author(s):  
Alexander. N. Labutin ◽  
Vladimir Yu. Nevinitsyn ◽  
Viktor A. Zaytsev ◽  
Galina V. Volkova
Keyword(s):  
Control System ◽  
Control Theory ◽  
Control Algorithm ◽  
Chemical Reactor ◽  
Control Law ◽  
Target Product ◽  
Synergetic Control Theory ◽  
Non Linear ◽  
Synergetic Control ◽  
The Given

A liquid-phase continuous stirred tank reactor equipped with a mechanical stirrer and cooling jacket is considered as a control object. The reactor operates in the polytropic mode. The multistep series-parallel exothermic process is carried out in the reactor. The objective of chemical reactor operation is to obtain the key product of specified concentration. The paper deals with analytical synthesis of automatic concentration control system of target product which provides invariance, covariance to the given actions, asymptotic stability and robustness under the action of uncontrollable parametric and signal disturbances. The astatic control law obtained using the synergetic control theory is proposed. Using the method of analytical design of aggregated regulators (ADAR) for a given invariant manifold, a non-linear control algorithm with an integral part was synthesized which solves the problem of stabilization of the concentration of target component on the exit of the reactor at the given value under the action of disturbances on the object. Algorithmic synthesis of the control law is carried out using a non-linear mathematical model of the object without the use of the linearization procedure. As a result of simulation it was found that the closed-loop control system has no static control error under the action of uncontrollable parametric and signal disturbances on the object, changes in the set points and initial deviation of the state variables from the static values. Consequently, the proposed non-linear concentration control algorithm has the property of robustness. The obtained results indicate the effectiveness of the ADAR method and the prospects of the synergetic control theory for solving problems of algorithmic synthesis of control systems of non-linear, multi-dimensional and multi-connected technological objects. The integration of the synthesized control law of chemical reactor at the design stage will allow implementing flexible cybernetically organized chemical-technological systems.

Sign in / Sign up

Export Citation Format

Share Document