Design and Fuzzy Compensation Control for Reduction Cell Monitor Manipulator with Adaptive Law

2013 ◽  
Vol 367 ◽  
pp. 427-430
Author(s):  
Wu Wang
Keyword(s):  
Robust Control ◽  
Fuzzy Control ◽  
Mathematical Models ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Reduction Cell ◽  
Compensation Control ◽  
Adaptive Law ◽  
Tracking Ability

As Reduction Cell Monitor with Dangerous and Complicated Environment, also the Monitor Parameters was Various, so, the Technique of Reduction Cell Monitor with Manipulator was Proposed. Mathematical Models of Manipulator was Constructed, Fuzzy Compensation Control Strategy was Introduced into this Controlled Plant, with Adaptive Law Combined with Fuzzy Control. the Simulation Result Shows this Control Strategy was Suitable for Reduction Cell Monitor with Good Trajectory Tracking Ability, the Friction was Compensated and the Robust Control Feature Realized.

Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator

2004 ◽  
Vol 126 (4) ◽  
pp. 905-910 ◽  
Author(s):  
Qing-Chang Zhong ◽  
David Rees
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Robust Stability ◽  
Control Strategy ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertainty And Disturbance Estimator ◽  
Derivatives Of ◽  
Siso Systems ◽  
Disturbance Estimator

This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xiaofeng Liu ◽  
Jiahong Xu ◽  
Yuhong Liu
Keyword(s):  
Predictive Model ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Kinematic Model ◽  
Control Variable ◽  
Optimal Solution ◽  
Intelligent Manufacturing ◽  
Pendulum System ◽  
Content Type ◽  
3D Space

Purpose The purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot. Design/methodology/approach The controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable. Findings The trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy. Originality/value This paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.

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