Decentralized Robust Feedback Linearization Control Based on Integrity

2013 ◽  
Vol 411-414 ◽  
pp. 1687-1696
Author(s):  
Jin Li Chen ◽  
Ya Li Xue ◽  
Dong Hai Li
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Closed Loop ◽  
Multivariable Systems ◽  
External Disturbances ◽  
Design Specifications ◽  
Feedback Linearization Control ◽  
System Uncertainties ◽  
Model Observer

Decentralized Robust Feedback Linearization (DRFL) approach based on integrity for multivariable systems is presented. It uses a model observer to compensate the non-modeled dynamics, system uncertainties, and external disturbances of a system. Firstly, the existence of DRFL controllers with integrity is examined. Then, stable regions of each DRFL controller parameters are calculated, and some parameters are obtained by placing suitable closed-loop poles, for meeting the design specifications for the whole control system. The proposed method is applied to an illustrative example. Results demonstrate that DRFL control is feasible and robust for complicated multivariable systems.

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

Friction-Compensating Feedback Linearization Control Applied to a Pneumatic Servo System

2014 ◽  
Vol 902 ◽  
pp. 219-224
Author(s):  
Mario R. Sobczyk S. ◽  
Ricardo M. Suzuki ◽  
Carlos A.C. Sarmanho Jr. ◽  
Eduardo A. Perondi
Keyword(s):  
Mathematical Model ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Closed Loop ◽  
Positioning System ◽  
Convergence Properties ◽  
Tracking Errors ◽  
Highly Nonlinear ◽  
Feedback Linearization Control ◽  
Pneumatic Servo System

This work proposes a feedback linearization control algorithm to be applied to a pneumatic positioning system. Such algorithm aims to compensate the undesirable effects due to the highly nonlinear dynamic behavior of such type of actuator. A mathematical model of the system is presented and the proposed controller is described. Besides, an analysis is provided of the convergence properties of the closed-loop tracking errors of the system when such controller is used. The main features of the proposed controller are illustrated by means of experimental results and respective discussions.

scholarly journals Nonlinear Model Predictive Horizon for Optimal Trajectory Generation

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 90
Author(s):  
Younes Al Younes ◽  
Martin Barczyk
Keyword(s):  
Nonlinear Model ◽  
Feedback Linearization ◽  
Optimization Problem ◽  
Closed Loop ◽  
Trajectory Generation ◽  
Loop Model ◽  
Loop Control ◽  
Feedback Linearization Control ◽  
Dynamic Obstacle ◽  
Reference Trajectories

This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop system dynamics model within the optimization problem to efficiently generate reference trajectories in real time. We call this approach the Nonlinear Model Predictive Horizon (NMPH). The closed-loop model used within NMPH employs a feedback linearization control law design to decrease the nonconvexity of the optimization problem and thus achieve faster convergence. For robust trajectory planning in a dynamically changing environment, static and dynamic obstacle constraints are supported within the NMPH algorithm. Our algorithm is applied to a quadrotor system to generate optimal reference trajectories in 3D, and several simulation scenarios are provided to validate the features and evaluate the performance of the proposed methodology.

Finite time attitude tracking control of an autonomous airship

2016 ◽  
Vol 40 (1) ◽  
pp. 155-162 ◽  
Author(s):  
Yueying Wang ◽  
Pingfang Zhou ◽  
Ji-An Chen ◽  
Dengping Duan
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Uncertain System ◽  
External Disturbances ◽  
Attitude Tracking ◽  
System Uncertainties ◽  
Attitude Tracking Control

The problem of station-keeping attitude tracking control for an autonomous airship with system uncertainties and external disturbances is investigated. Adaptive laws are applied to estimate the upper bounds of uncertainties and disturbances, and a nonlinear finite time control scheme is proposed by combing input/output feedback linearization with integral sliding mode technique. Different from the existing works on attitude control of airship, the developed controller can guarantee the yaw, pitch and roll angle trajectories track the desired attitude in finite time in spite of uncertain system uncertainties and external disturbances. Simulation results are provided to illustrate the attitude tracking performance.

Tuning Method of Fractional Order Controllers for Vibration Suppression in Smart Structures

2014 ◽  
Vol 598 ◽  
pp. 534-538 ◽  
Author(s):  
Cristina I. Muresan ◽  
Ovidiu Prodan ◽  
Silviu Folea
Keyword(s):  
Fractional Order ◽  
Closed Loop ◽  
Vibration Suppression ◽  
Aerospace Engineering ◽  
External Disturbances ◽  
Tuning Method ◽  
Design Specifications ◽  
Modeling Uncertainties ◽  
Smart Beam

Vibration suppression is a major problem in various domains, with applications ranging from medical devices to aerospace engineering. Several methods for suppressing vibrations have been proposed, but very few address this issue from the fractional calculus perspective. The emerging new fractional order controllers have the ability to meet more design specifications at the same time, behaving robustly against modeling uncertainties, external disturbances, etc. In this paper, a new tuning method for fractional order PDµcontroller is proposed in which the design directly addresses the problem of suppressing resonance frequency vibrations. The case study consists in an unloaded smart beam. The simulation results, considering an additional situation of the loaded smart beam, show that the proposed method is simple and leads to a robust closed loop behavior.

SSGM Based Multivariable Control of Unstable Non-Square Systems

2017 ◽  
Vol 13 (1) ◽  
Author(s):  
Manickam Chidambaram ◽  
Dhanya Ram V
Keyword(s):  
Control System ◽  
Steady State ◽  
Closed Loop ◽  
Single Stage ◽  
Pi Control ◽  
Multivariable Systems ◽  
Two Stage ◽  
Loop Control ◽  
Gain Matrix ◽  
Pi Controllers

AbstractDavison (1976) proposed a method to design controllers for multivariable systems using the knowledge of only the Steady-State Gain Matrix (SSGM) of the system. In the present work, Davison's method is suitably modified to design controllers for unstable non-square multivariable systems. A single-stage multivariable PI controller is designed using the SSGM. Simulation results show that the overshoots of the closed loop responses are larger, hence a two-stage P-PI control system is proposed. For the proposed two- stage design (i) the system is first stabilized by a simple proportional controller matrix designed based on SSGM using modified Davison's method (1976). (ii) Diagonal PI controllers are designed for this stabilized system based on gain matrix. Simulation studies are carried out to compare the closed loop performance of the single stage multivariable PI control system with that of the two-stage control system (inner loop centralized P controllers and outer loop diagonal PI controllers). A method to identify the steady state gain matrix of a non-square multivariable (SSGM) unstable system under closed loop control is presented. The effect of disturbances and measurement noise on the identification of SSGM is also discussed.

Stability Analysis of a Bilateral Teleoperating System

1993 ◽  
Vol 115 (3) ◽  
pp. 419-426 ◽  
Author(s):  
Y. Strassberg ◽  
A. A. Goldenberg ◽  
J. K. Mills
Keyword(s):  
Feedback Linearization ◽  
Closed Loop ◽  
Tracking Error ◽  
Degree Of Freedom ◽  
Closed Loop System ◽  
Control Scheme ◽  
Feedback Linearization Control ◽  
Small Gain ◽  
The Stability ◽  
Three Degree Of Freedom

In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate feedback linearization control, based on the earlier work of Spong and Vidyasagar, 1987, a robust closed-loop system (position and force) can be obtained with a multiloop version of the small gain theorem. It is shown that stable bilateral teleoperating systems can be achieved under the assumption that the deviation of the models from the actual systems satisfies certain norm inequalities. We also show that, using the proposed scheme, the tracking error (position/velocity and force/torque) is bounded and it can be made arbitrarily small. The control scheme is illustrated using the simulation of a three-degree-of-freedom master-slave teleoperator (three-degree-of-freedom master and three-degree-of-freedom slave).

Sign in / Sign up

Export Citation Format

Share Document