A Novel Dual-Loop Control Scheme for Payload Anti-Swing and Trolley Position of Industrial Robotic 3DOF Crane

2015 ◽  
Vol 789-790 ◽  
pp. 658-664 ◽  
Author(s):  
Muhammad Faisal ◽  
Mohsin Jamil ◽  
Usman Rashid ◽  
Syed Omer Gilani ◽  
Yasar Ayaz ◽  
...  
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Research Work ◽  
State Feedback Control ◽  
Experimental Results ◽  
Loop Control ◽  
Control Techniques ◽  
Swing Angle ◽  
Suggested Technique ◽  
Control Scheme

In this paper, we propose a novel dual-loop control scheme (DLCS). We did not see such investigation of DLCS in the previous research work. DLCS scheme is a combination of classical PID and advanced state feedback control techniques. The proposed technique is used to control swing angle and trolley position of a 3DOF crane. Extensive simulations have been carried out using MATLAB / Simulink and practically validated on a Quanser 3DOF crane system. Experimental results indicate that the proposed DLCS control scheme improves crane operation by damping the payload oscillations. The scheme also smoothen the trolley motion. Our suggested technique provides better performance in terms of payload oscillations comparing to the classical PID.

scholarly journals Robust H ∞ state-feedback control for linear systems

2017 ◽  
Vol 473 (2200) ◽  
pp. 20160934 ◽  
Author(s):  
Hao Chen ◽  
Zhenzhen Zhang ◽  
Huazhang Wang
Keyword(s):  
Feedback Control ◽  
Linear Systems ◽  
Control Algorithm ◽  
State Feedback ◽  
Convex Combination ◽  
State Feedback Control ◽  
Parameter Uncertainties ◽  
Globally Asymptotically Stable ◽  
Loop Control ◽  
Control Approach

This paper investigates the problem of robust H ∞ control for linear systems. First, the state-feedback closed-loop control algorithm is designed. Second, by employing the geometric progression theory, a modified augmented Lyapunov–Krasovskii functional (LKF) with the geometric integral interval is established. Then, parameter uncertainties and the derivative of the delay are flexibly described by introducing the convex combination skill. This technique can eliminate the unnecessary enlargement of the LKF derivative estimation, which gives less conservatism. In addition, the designed controller can ensure that the linear systems are globally asymptotically stable with a guaranteed H ∞ performance in the presence of a disturbance input and parameter uncertainties. A liquid monopropellant rocket motor with a pressure feeding system is evaluated in a simulation example. It shows that this proposed state-feedback control approach achieves the expected results for linear systems in the sense of the prescribed H ∞ performance.

On Passive Implementation of Feedback Control Systems

1989 ◽  
Vol 111 (2) ◽  
pp. 339-342
Author(s):  
R. Shoureshi
Keyword(s):  
Feedback Control ◽  
Control Systems ◽  
State Feedback ◽  
Closed Loop ◽  
State Feedback Control ◽  
Closed Loop Control ◽  
Linear Quadratic ◽  
Loop Control ◽  
Feedback Control Systems ◽  
Linear Quadratic Regulators

Closed-loop control systems, especially linear quadratic regulators (LQR), require feedbacks of all states. This requirement may not be feasible for those systems which have limitations due to geometry, power, required sensors, size, and cost. To overcome such requirements a passive method for implementation of state feedback control systems is presented.

scholarly journals Finite-Time Mittag–Leffler Synchronization of Neutral-Type Fractional-Order Neural Networks with Leakage Delay and Time-Varying Delays

Mathematics ◽  
2020 ◽  
Vol 8 (7) ◽  
pp. 1146
Author(s):  
Călin-Adrian Popa ◽  
Eva Kaslik
Keyword(s):  
Neural Networks ◽  
Feedback Control ◽  
Fractional Order ◽  
Finite Time ◽  
State Feedback ◽  
Neutral Type ◽  
Leakage Delay ◽  
State Feedback Control ◽  
Time Varying ◽  
Control Scheme

This paper studies fractional-order neural networks with neutral-type delay, leakage delay, and time-varying delays. A sufficient condition which ensures the finite-time synchronization of these networks based on a state feedback control scheme is deduced using the generalized Gronwall–Bellman inequality. Then, a different state feedback control scheme is employed to realize the finite-time Mittag–Leffler synchronization of these networks by using the fractional-order extension of the Lyapunov direct method for Mittag–Leffler stability. Two numerical examples illustrate the feasibility and the effectiveness of the deduced sufficient criteria.

scholarly journals Nanometer Positional Control Using Magnetic Suspension for Vacuum-to-Air Mass Metrology

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Nicholas Vlajic ◽  
Melissa Davis ◽  
Corey Stambaugh
Keyword(s):  
Magnetic Field ◽  
Feedback Control ◽  
State Feedback ◽  
Optical Measurement ◽  
Vertical Direction ◽  
The United States ◽  
Magnetic Suspension ◽  
State Feedback Control ◽  
Control Scheme ◽  
The Magnetic Field

This paper explains the control scheme that is to be used in the magnetic suspension mass comparator (MSMC), an instrument designed to directly compare mass artifacts in air to those in vacuum, at the United States National Institute of Standards and Technology. More specifically, the control system is used to apply a magnetic force between two chambers to magnetically suspend the mass artifacts, which allows for a direct comparison (i.e., a calibration) between the mass held in air and a mass held in vacuum. Previous control efforts that have been demonstrated on a proof-of-concept (POC) of this system utilized proportional-integral-derivative (PID)-based control with measurements of the magnetic field as the control signal. Here, we implement state-feedback control using a laser interferometric displacement measurement with a noise floor of approximately 5 nm (root-mean-square). One of the unique features and main challenges in this system is that, in order to achieve the necessary accuracy (relative uncertainty of 20 × 10−9 in the MSMC), the magnetic suspension must not impose appreciable lateral forces or moments. Therefore, in this design, a single magnetic actuator is used to generate a suspension force in the vertical direction, while gravity and the symmetry of the magnetic field provide the lateral restoring forces. The combined optical measurement and state-feedback control strategy presented here demonstrate an improvement over the previously reported results with magnetic field measurements and a PID-based control scheme.

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