scholarly journals Study of Stability through Lyapunov Theory and Passivity following a FDI on a Velocity Control System

2021 ◽  
Author(s):  
M. Ruhnke ◽  
X. Moreau ◽  
A. Neto ◽  
M. Moze ◽  
F. Aioun ◽  
...  
Keyword(s):  
Control System ◽  
Lyapunov Theory ◽  
Velocity Control

Fault Control for a Class of Nonlinear System with Input Delay

2012 ◽  
Vol 482-484 ◽  
pp. 1801-1804
Author(s):  
Yang Yu ◽  
Wei Wang
Keyword(s):  
Control System ◽  
Nonlinear System ◽  
State Feedback ◽  
Fuzzy Model ◽  
Lyapunov Theory ◽  
Feedback Controller ◽  
Input Delay ◽  
State Feedback Controller ◽  
The Stability ◽  
Delay Dependent

The paper studies fuzzy fault control for a class of nonlinear system with input delay based on T-S fuzzy model. The state feedback controller that ensures the stability of fuzzy tolerant control system is given via Lyapunov theory and derived in terms of LMI and the results are delay-dependent. Simulation examples are given to illustrate the effectiveness of the approach.

Multivariable adaptive distributed leader-follower flight control for multiple UAVs formation

2017 ◽  
Vol 121 (1241) ◽  
pp. 877-900 ◽  
Author(s):  
Y. Xu ◽  
Z. Zhen
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Flight Control ◽  
Control Strategy ◽  
Formation Control ◽  
Parametric Uncertainty ◽  
Lyapunov Theory ◽  
Formation Flight ◽  
Flight Control System ◽  
Multiple Uavs

ABSTRACTThe Unmanned Aerial Vehicles (UAVs) become more and more popular due to various potential application fields. This paper studies the distributed leader-follower formation flight control problem of multiple UAVs with uncertain parameters for both the leader and followers. This problem has not been addressed in the literature. Most of the existing literature considers the leader-follower formation control strategy with parametric uncertainty for the followers. However, they do not take the leader parametric uncertainty into account. Meanwhile, the distributed control strategy depends on less information interactions and is more likely to avoid information conflict. The dynamic model of the UAVs is established based on the aerodynamic parameters. The establishment of the topology structure between a collection of UAVs is based on the algebraic graph theory. To handle the parametric uncertainty of the UAVs dynamics, a multivariable model reference adaptive control (MRAC) method is addressed to design the control law, which enables follower UAVs to track the leader UAV. The stability of the formation flight control system is proved by the Lyapunov theory. Simulation results show that the proposed distributed adaptive leader-following formation flight control system has stronger robustness and adaptivity than the fixed control system, as well as the existing adaptive control system.

Linear Quadratic Regulator Method in Vision-Based Laser Beam Tracking for a Mobile Target Robot

Robotica ◽  
2020 ◽  
pp. 1-11
Author(s):  
Yun Ling ◽  
Jian Wu ◽  
Weiping Zhou ◽  
Yubiao Wang ◽  
Changcheng Wu
Keyword(s):  
Control System ◽  
Laser Beam ◽  
Tracking Control ◽  
Error Control ◽  
Linear Quadratic Regulator ◽  
Lyapunov Theory ◽  
State Function ◽  
Linear Quadratic ◽  
Mobile Target ◽  
Beam Tracking

SUMMARY This paper proposes a novel laser beam tracking mechanism for a mobile target robot that is used in shooting ranges. Compared with other traditional tracking mechanisms and modules, the proposed laser beam tracking mechanism is more flexible and low cost in use. The mechanical design and the working principle of the tracking module are illustrated, and the complete control system of the mobile target robot is introduced in detail. The tracking control includes two main steps: localizing the mobile target robot with regards to the position of the laser beam and tracking the laser beam by the linear quadratic regulator (LQR). First of all, the state function of the control system is built for this tracking system; second, the control law is deduced according to the discretized state function; lastly, the stability of the control method is proved by the Lyapunov theory. The experimental results demonstrate that the Hue, Saturation, Value feature-extracting method is robust and is qualified to be used for localization in the laser beam tracking control. It is verified through experiments that the LQR method is of better performance than the conventional Proportional Derivative control in the aspect of converge time, lateral error control, and distance error control.

Design of a Velocity Control System Using an Inlet Metered Pump

2017 ◽  
Author(s):  
Hasan H. Ali ◽  
Roger C. Fales ◽  
Noah D. Manring
Keyword(s):  
Fluid Flow ◽  
Control System ◽  
High Efficiency ◽  
Flow Direction ◽  
Low Cost ◽  
Hydraulic Cylinder ◽  
Fast Response ◽  
Open Loop ◽  
Velocity Control ◽  
Pump System

This work introduces a new way to control hydraulic cylinder velocity using an inlet metering pump system to control the hydraulic flow entering the cylinder. The inlet metering system consists of a fixed displacement pump and an inlet metering valve that adjusts the hydraulic fluid flow entering the pump as required. The energy losses associated with flow metering in the system are reduced because the pressure drop across the inlet metering valve can be arbitrarily small. The fluid is supplied to the inlet metering valve at a fixed pressure using a charge pump. A velocity control system is designed using the inlet metering system as means to control the fluid flow to a hydraulic cylinder. In addition to the inlet metering system, the velocity control system designed in this work includes a four-way directional valve to set the fluid flow direction according to the desired direction of the hydraulic cylinder velocity. Open-loop and closed-loop proportional and proportional derivative (P and PD) controllers are designed. Designs with the goals of stability and performance of the system are studied so that a precise and smooth velocity control system for the hydraulic cylinder is achieved. In addition to potentially high efficiency of this system, there is potential for other benefits including low cost, fast response, and less complicated dynamics compared to other systems. The results presented in this work show that the inlet metering velocity control system can be designed so that the system is stable, there is zero overshoot and no oscillation.

scholarly journals Modeling and stabilization of eccentric gravity machinery

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775178
Author(s):  
Wu-Sung Yao
Keyword(s):  
Control System ◽  
Digital Signal Processor ◽  
Repetitive Control ◽  
Electric Energy ◽  
Digital Signal ◽  
Control Performance ◽  
Velocity Control ◽  
Stability Performance ◽  
The Stability ◽  
And Control

In general, eccentric gravity machinery is a rotation mechanism with eccentric pendulum mechanism, which can be used to convert continuously kinetic energy generated by gravity energy to electric energy. However, a stable rotated velocity of the eccentric gravity machinery is difficult to be achieved only using gravity energy. In this article, a stable velocity control system applied to eccentric gravity machinery is proposed. The dynamic characteristic of eccentric gravity machinery is analyzed and its mathematical model is established, which is used to design the controller. A stable running velocity of the eccentric gravity machinery can be operated by the controlled servomotor. Due to disturbances being periodic, repetitive controller is installed to velocity control loop. The stability performance and control performance of the repetitive control system are discussed. The iterative algorithm of the repetitive control is executed by a digital signal processor TI TMS320C32 floating-point processor. Simulated and experimental results are reported to verify the performance of the proposed eccentric gravity machinery control system.

Research of Velocity Stability of Separate Meter in and Separate Meter out Control System for Over-Running Load

2015 ◽  
Vol 727-728 ◽  
pp. 752-756
Author(s):  
Zhong Yi Cao ◽  
Xin Ming Liu ◽  
Wan Rong Wu
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Hydraulic System ◽  
The Novel ◽  
Velocity Control ◽  
Factors Affecting ◽  
Simulation And Experiment ◽  
The Stability

There are some defects in the traditional over-running load hydraulic system, such as velocity control is poor and prone to velocity jitter, etc. In order to improve these weaknesses, the components and work principle of the separate meter in and separate meter out (SMISMO) were introduced and the actuator’s feature were analyzed , the simulation model of hydraulic studied system was built, the factors affecting the stability of the system are discussed in this paper. Simulation and experiment showed that the novel control system possessed higher velocity control precise and good stable characteristics.

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