An Adaptive Cooperative Control Method for Nonlinear System Based on Directed Graph

2013 ◽  
Vol 328 ◽  
pp. 67-71
Author(s):  
Zhao Ming Li ◽  
Yong Ming Gao ◽  
Ya Feng Niu
Keyword(s):  
Nonlinear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Method ◽  
Actual State ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

In consideration of the disturbance influence, the system always has nonlinear terms. This paper proposes an adaptive autonomous cooperative control method for a class of nonlinear system based on the directed graph. 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, by exchanging error information among individuals, and online-updating the nonlinear terms, all individual states are synchronized up to the desired value. The differential of the actual state is not needed, which reduces the requirements for relative measurment between individuals efficiently. 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.

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.

Cooperative Tracking Control for Formation Keeping of Fractionated Spacecraft Based on Error Exchanging

2014 ◽  
Vol 1016 ◽  
pp. 649-654
Author(s):  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Tracking Control ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Control Law ◽  
Velocity Information ◽  
The Stability ◽  
Cooperative Tracking ◽  
Fractionated Spacecraft ◽  
High Degree ◽  
Formation Keeping

This paper discusses the cooperative control for formation keeping of fractionated spacecraft, which is a new concept in recent years. For system of second-order differential equations of formation flying dynamics, knowledge of graph and consensus theory is introduced in study. By means of the idea of sliding mode control, we design a tracking control law for time-varying desired signal. Via exchanging error information among modules, the control law can make errors synchronized up to zero to achieve tracking. Relative velocity information between modules is not needed in this control law, which will efficiently reduce the requirements for relative navigation between modules. Then we prove the stability of the control system. Finally numerical simulation results show the effectiveness of the control law. By configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Laboratory for Validation of Rolling-Resistance Models

2021 ◽  
Author(s):  
M. L. Larsen ◽  
J. Cesbron ◽  
F. Anfosso-Lédée ◽  
C. Ropert ◽  
J. C. Dyre ◽  
...  
Keyword(s):  
Rolling Resistance ◽  
Resistance Coefficient ◽  
Rolling Speed ◽  
Surface Textures ◽  
Degree Of Control ◽  
The Time Domain ◽  
High Degree ◽  
Accuracy And Repeatability ◽  
Clear Increase ◽  
Control Accuracy

In this paper, a versatile drum setup for measuring rolling resistance of small wheels is presented. The purpose is to provide a flexible setup for testing of models for rolling resistance under controlled circumstances. To demonstrate this, measurements of rolling resistance with a series of sandpapers of different grit sizes representing surface textures were carried out. The measurements show a clear increase in the rolling-resistance coefficient with increasing surface roughness, rolling speed and load. Numerical calculations in the time domain for a visco-elastic contact model run on equivalent surfaces agree with the trends found experimentally. We conclude that this approach to simplifying the experiment in order to obtain a high degree of control, accuracy and repeatability is useful for validating and testing models for calculating the rolling resistance for a given surface texture.

Synchronous Tracking Control for Agricultural Wide-Span Implement Carrier (WSIC)

2018 ◽  
Vol 61 (3) ◽  
pp. 873-883
Author(s):  
Chengming Luo ◽  
Ahmad Mohsenimanesh ◽  
Claude Laguë
Keyword(s):  
Cooperative Control ◽  
Control Method ◽  
Control Process ◽  
Path Following ◽  
Guidance System ◽  
Control Law ◽  
Robotic Platform ◽  
Steering Angle ◽  
Reference Velocity ◽  
Automatic Guidance

Abstract. The mobile operating mode of agricultural Wide-Span Implement Carriers (WSICs) requires accurate synchronization of the forward motions of the two supporting tractors. The guidance task for WSIC operations is currently performed by human operators, which is labor-intensive and can be inaccurate. To replace the traditional human steering and control process, an automatic guidance system adapted to the mobile mode of the WSIC was designed and tested. A master-slave cooperative control method was applied, and the steering angle control law for both the master and slave vehicles and the velocity control law for the slave vehicle were derived. A scaled-down robotic platform was developed by integrating two heavy-duty mobile robots, a dual-rover real-time kinematic GPS (RTK-GPS), two inertial measurement units (IMUs), two XBee-PRO wireless communication modules, and two groups of control processors. Validation experiments were performed using the robotic platform on a flat and firm surface. Results of the single-robot path-following experiment verified the effectiveness of the steering angle control law. Results of the two synchronous tracking experiments, one with a constant reference velocity of 0.3 m s-1 and one with a varying reference velocity of 0.2 to 0.6 m s-1, showed that the two robots could perform their individual path-following tasks accurately while keeping their relative offset to less than 0.1 m. In the experiment with a constant reference velocity, the average, root mean square (RMS), maximum lead, and maximum lag of the offset errors were 0.01, 0.03, 0.05, and 0.06 m, respectively. Slightly larger average, RMS, and maximum lead offset errors were observed in the experiment with a varying reference velocity, which were 0.02, 0.04, and 0.09 m, respectively. These experimental results confirmed that the designed control laws for the synchronous tracking of the WSIC vehicles were effective and the developed automatic guidance system was reliable and applicable. Keywords: Automatic guidance, Master-slave control, Synchronous tracking, Wide-Span Implement Carrier (WSIC).

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

The Design of Control System of Rapid Prototyping Machine for Ceramic Parts Based on SIEMENS S7-200

2011 ◽  
Vol 291-294 ◽  
pp. 2898-2905
Author(s):  
Dong Qiang Gao ◽  
Fei Zhang ◽  
Zhi Yun Mao ◽  
Zhong Yan Li
Keyword(s):  
Control System ◽  
Rapid Prototyping ◽  
Control Method ◽  
Comprehensive Performance ◽  
Control Accuracy

The traditional control system of rapid protyping machine for ceramic parts has many shortcomings: complex wiring, low control accuracy, incovenience maintenance and lack of flexibility, while the control method based on PLC can improve the comprehensive performance of the overall machine. The paper selectsSIEMENS S7-200 small PLC system to do generalized design for the rapid protyping machine for ceramic: including the wiring conection of hardware and distribution of I/O; programming by V4.0 STEP7-Micro/WIN SP3 software,which is flexible, interface friendly and debugging convienent.

Dynamic multi-objective matrix control for a class of switched systems

2021 ◽  
pp. 014233122199338
Author(s):  
Ali Thamallah ◽  
Anis Sakly ◽  
Faouzi M’Sahli
Keyword(s):  
Switched Systems ◽  
Optimization Problem ◽  
Control Method ◽  
Optimization Procedure ◽  
Control Law ◽  
Dynamic Matrix Control ◽  
General Reference ◽  
Multi Objective ◽  
Dynamic Matrix ◽  
Matrix Control

This article focuses on the tracking and stabilizing issues of a class of discrete switched systems. These systems are characterized by unknown switching sequences, a non-minimum phase, and time-varying or dead modes. In particular, for those governed by an indeterminate switching signal, it is very complicated to synthesize a control law able to systematically approach general reference-tracking difficulties. Taking into account the difficulty to express the dynamic of this class of systems, the present paper presents a new Dynamic matrix control method based on the multi-objective optimization and the truncated impulse response model. The formulation of the optimization problem aims to approach the general step-tracking issues under persistent and indeterminate mode changes and to overcome the stability problem along with retaining as many desirable features of the standard dynamic matrix control (DMC) method as possible. In addition, the formulated optimization problem integrates estimator variables able to manipulate the optimization procedure in favor of the active mode with an appropriate adjustment. It also provides a progressive and smooth multi-objective control law even in the presence of problems whether in subsystems or switching sequences. Finally, simulation examples and comparison tests are conducted to illustrate the potentiality and effectiveness of the developed method.

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