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 Mathematical Formulation of Feedback Linearizing Control of Doubly Fed Induction Generator Including Magnetic Saturation Effects

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Julia Tholath Jose ◽  
Adhir Baran Chattopadhyay
Keyword(s):  
Feedback Linearization ◽  
Control Algorithm ◽  
Mathematical Formulation ◽  
Control Technique ◽  
Induction Generator ◽  
Magnetic Saturation ◽  
Doubly Fed Induction Generator ◽  
State Variables ◽  
Feedback Linearization Control ◽  
Doubly Fed

This paper proposes a control methodology based on feedback linearization for a doubly fed induction generator (DFIG) incorporating the magnetic saturation. The feedback linearization algebraically converts a nonlinear system model into a linear model, allowing the use of linear control techniques. Feedback linearization control depends on the model of the system and is therefore sensitive to parameter variations. The doubly fed induction generator (DFIG) operating under the magnetic saturation conditions results in the nonlinear variation of magnetizing inductance, which affects the performance of the control algorithm. From this stand point, on the basis of the dynamic model of the doubly fed induction generator considering magnetic saturation, the feedback linearizing control technique has been formulated. The mathematical model of the doubly fed induction generator, integrating the magnetic saturation has been formulated in the stator flux-oriented reference frame with rotor current and stator magnetizing current as state variables. Simulation studies demonstrate that the inclusion of magnetic saturation in the feedback linearization control of the doubly fed induction generator model increases its accuracy and results in a more efficient and reliable synthesis of the control algorithm.

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.

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.

Design of Auto-Stabilization Control Technique for a Quadrotor System

2013 ◽  
Vol 313-314 ◽  
pp. 559-564
Author(s):  
Norafizah Abas ◽  
Rini Akmeliawati ◽  
Zulkiflie Ibrahim ◽  
M. Zamzuri A. Rashid ◽  
N. Hazahsha Samsudin
Keyword(s):  
Pid Controller ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Control Technique ◽  
Proportional Integral Derivative ◽  
Stabilization Control ◽  
Highly Nonlinear ◽  
Quadrotor System ◽  
Manual Mode

This paper presents the design of auto-stabilization control technique for a quadrotor system. Aquadrotor is a highly nonlinear and has to be stabilized by a suitable control technique. Therefore, the main focus of this research is to design an appropriate control algorithm that able to auto-stabilize the quadrotor at hover. The dynamic modeling of the quadrotor is described by sets of equations of motion that are derived based on the Newton-Euler formalism with the implementation of UKF for parameter identification and state estimation. The control strategy adopted includes feedback linearization coupled with Proportional-Derivative (PD) controller for the translational subsystem and backstepping based Proportional-Integral-Derivative (PID) controller for the rotational subsystem. It is developed in MATLAB/Simulink platform and is validated via real-time implementation. Both controllers give satisfactory simulation results, where acceptable peak of overshoot and small steady state errors are achieved. Experimentally, the throttle is controlled in manual mode while attitude angles are stabilized automatically. The simulation and experimental results show that the proposed controller is able to effectively stabillized the quadrotor.

scholarly journals Loop-Shaping ℋ∞ Control of an Aeropendulum Model

2021 ◽  
Vol 26 (4) ◽  
pp. 1-16
Author(s):  
Ricardo Breganon ◽  
Uiliam Nelson L.T. Alves ◽  
João Paulo L.S. De Almeida ◽  
Fernando S.F. Ribeiro ◽  
Marcio Mendonça ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Closed Loop ◽  
Angular Position ◽  
Control Design ◽  
Closed Loop System ◽  
Weighting Functions ◽  
Loop Shaping ◽  
Simulation Results

Abstract This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping ℋ∞ control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the ℋ∞ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the ℋ∞ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.

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).

Robust Approach for Position Control of Hydraulic Differential Cylinder

2007 ◽  
Author(s):  
Yan Liu ◽  
Dirk So¨ffker
Keyword(s):  
Feedback Linearization ◽  
Position Control ◽  
Single Input Single Output ◽  
Control Approach ◽  
Luenberger Observer ◽  
Single Output ◽  
Cylinder Test ◽  
Highly Nonlinear ◽  
Feedback Linearization Control ◽  
Feedback Linearization Approach

The paper introduces a robust nonlinear control approach for the position control of hydraulic differential cylinder. The behavior of a hydraulic differential cylinder is highly nonlinear. A perfect model is usually not available. So nevertheless a robust control is required, to guarantee the performance of the cylinder, usually based on an imperfect model. The presented approach combining the classical feedback linearization approach and an extended Luenberger observer technique is robust to model uncertainties or unknown effects acting to the system, for example as unknown load, and can be applied to single-input single-output (SISO) nonlinear systems. It improves the robustness and extends the application area of feedback linearization control. The approach is implemented and tested on a hydraulic differential cylinder test rig. Theoretical proofs and experimental results are presented.

scholarly journals A mathematical model for designing a reliable cellular hybrid manufacturing-remanufacturing system considering alternative and contingency process routings

2021 ◽  
Vol 3 (3) ◽  
Author(s):  
Amirreza Hooshyar Telegraphi ◽  
Akif Asil Bulgak
Keyword(s):  
Mathematical Model ◽  
Supply Chain ◽  
Manufacturing Systems ◽  
Closed Loop ◽  
Sustainable Manufacturing ◽  
Critical Issue ◽  
Economic Benefits ◽  
Mixed Integer ◽  
Hybrid Manufacturing ◽  
Closed Loop Supply Chain

AbstractDue to the stringent awareness toward the preservation and resuscitation of natural resources and the potential economic benefits, designing sustainable manufacturing enterprises has become a critical issue in recent years. This presents different challenges in coordinating the activities inside the manufacturing systems with the entire closed-loop supply chain. In this paper, a mixed-integer mathematical model for designing a hybrid-manufacturing-remanufacturing system in a closed-loop supply chain is presented. Noteworthy, the operational planning of a cellular hybrid manufacturing-remanufacturing system is coordinated with the tactical planning of a closed-loop supply chain. To improve the flexibility and reliability in the cellular hybrid manufacturing-remanufacturing system, alternative process routings and contingency process routings are considered. The mathematical model in this paper, to the best of our knowledge, is the first integrated model in the design of hybrid cellular manufacturing systems which considers main and contingency process routings as well as reliability of the manufacturing system.

scholarly journals Research of Active Power Filter Modeling with Grid Impedance in Feedback Linearization and Quasi-Sliding Mode Control

2017 ◽  
Vol 2017 ◽  
pp. 1-11
Author(s):  
Zeyu Shi ◽  
Yingpin Wang ◽  
Yunxiang Xie ◽  
Lanfang Li ◽  
Xiaogang Xu
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Active Power Filter ◽  
Active Power ◽  
Pi Control ◽  
Power Filter ◽  
Mode Control ◽  
Grid Impedance

Active power filter (APF) is the most popular device in regulating power quality issues. Currently, most literatures ignored the impact of grid impedance and assumed the load voltage is ideal, which had not described the system accurately. In addition, the controllers applied PI control; thus it is hard to improve the compensation quality. This paper establishes a precise model which consists of APF, load, and grid impedance. The Bode diagram of traditional simplified model is obviously different with complete model, which means the descriptions of the system based on the traditional simplified model are inaccurate and incomplete. And then design exact feedback linearization and quasi-sliding mode control (FBL-QSMC) is based on precise model in inner current loop. The system performances in different parameters are analyzed and dynamic performance of proposed algorithm is compared with traditional PI control algorithm. At last, simulations are taken in three cases to verify the performance of proposed control algorithm. The results proved that the proposed feedback linearization and quasi-sliding mode control algorithm has fast response and robustness; the compensation performance is superior to PI control obviously, which also means the complete modeling and proposed control algorithm are correct.

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