Analysis of Leveling Control System via Iterative Linear Matrix Inequalities with Full Order Observer

2012 ◽  
Vol 472-475 ◽  
pp. 1473-1476
Author(s):  
Jia Sun ◽  
Yu Hou Wu ◽  
Nan Xiao

Abstract. This paper investigates leveling control system of suspended access platform using an observer-based controller. Uncertain linear systems for leveling control are derived and represented in terms of a set of matrix inequalities. In the system, all state variables needn’t be measured; the perturbations of leveling control are assumed to be described by structural uncertainties. The stiff problem is avoided since the design procedure is independent of the small parameter. The control problem can be effectively solved by the proposed iterative linear matrix inequality approach. The convergence of the algorithms is also studied. Furthermore, a numerical example and simulation results are given to illustrate the effectiveness of proposed method.

Author(s):  
Itzhack Levy ◽  
Nadav Berman ◽  
Amit Ailon

In this paper the tracking problem of a robotic system with model uncertainty is considered via an application of the H∞ control theory for nonlinear systems. In particular, we develop a state feedback controller which yields a global exponential stability of the underlying system and provides the closed loop system with relatively low gains. The main ingredient which facilitates our development is the choice of a particular storage function (which serves as a Lyaponov function). This particular storage function leads to certain linear matrix inequalities, the solution of which yields the desired controller. Moreover, the resulting LMIs (Linear Matrix Inequalities) turn out to be of the same form of the LMIs achieved in the analogous linear case. Simulation results and implementation of the control algorithm in a two-degree of freedom robot illustrate the controller efficiency.


2012 ◽  
Vol 2012 ◽  
pp. 1-17 ◽  
Author(s):  
Máira P. A. Santim ◽  
Marcelo C. M. Teixeira ◽  
Wallysonn A. de Souza ◽  
Rodrigo Cardim ◽  
Edvaldo Assunção

The paper proposes a new design method based on linear matrix inequalities (LMIs) for tracking constant signals (regulation) considering nonlinear plants described by the Takagi-Sugeno fuzzy models. The procedure consists in designing a single controller that stabilizes the system at operation points belonging to a certain range or region, without the need of remaking the design of the controller gains at each new chosen equilibrium point. The control system design of a magnetic levitator illustrates the proposed methodology.


Author(s):  
Liudmyla Zhuchenko

The production of carbon products is largely resource- and energy-intensive. That is why increasing the efficiency of this production is an urgent scientific and practical task, especially in modern conditions of constant growth of energy costs. An effective way to solve this problem is to create a modern process control system, taking into account possible failures of system components. A method for the synthesis of a fault-tolerant control system for the cyclic formation of carbon products has been developed, which takes into account control errors that are caused by malfunctions of controllers under conditions of unknown disturbances. According to the cyclic nature of the technological process under consideration, a control method with iterative learning was used in the synthesis of the control system. This method considers cyclic processes based on a two-dimensional model (2D model). The proposed control algorithm ensures the convergence of the control process with the task both in time and in each work cycle in order to promote the required quality of control even in the event of unknown disturbances and errors in the performance of controllers. The synthesis of the control system is based on the solution of a system of linear matrix inequalities. Based on the combination of a control method with iterative learning and a control method that takes into account failures in controllers, a method of constructing a fault-tolerant control system for the cyclic formation of carbon products has been synthesized to ensure acceptable operation of the control object in abnormal conditions. The control system has been synthesized by solving a system of linear matrix inequalities with the MATLAB software. In the future, it is necessary to consider optimal settings of the proposed control system and examine its effectiveness in comparison with conventional fault-tolerant systems for non-cyclic processes.


2005 ◽  
Vol 11 (2) ◽  
pp. 187-200 ◽  
Author(s):  
Salim Ibrir ◽  
Ruxandra Botez

Often, dynamical aircraft systems cannot always be accurate because some approximation assumptions, imprecisions or uncertainties may have been introduced or imposed during the modeling process. Mathematical models of aircraft systems always contain uncertain elements, which model the designer’s lack of knowledge about some parameter values, disturbances and unmodeled dynamics. Using both Lyapunov’s direct method and the linear matrix inequality approach, we develop the controller design procedure, and give a definite feel for stability analysis and robust control for aircraft systems with significant uncertainty. An example of an uncertain thrust vectoring aircraft is studied to illustrate our control design strategy.


2020 ◽  
Vol 56 (2) ◽  
pp. 1896-1906
Author(s):  
Gustavo Guilherme Koch ◽  
Caio R. D. Osorio ◽  
Humberto Pinheiro ◽  
Ricardo C. L. F. Oliveira ◽  
Vinicius Foletto Montagner

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